کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
393039 665564 2013 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Motion modeling and neural networks based yaw control of a biomimetic robotic fish
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Motion modeling and neural networks based yaw control of a biomimetic robotic fish
چکیده انگلیسی

This paper focuses on the modeling of undulation propulsion and a neural network (NN) yaw controller based on this model. First, because of the importance of the first link’s oscillation in yaw control, a motion model of free swimming was built based on the Lagrangian function, and the coupled dynamic and kinematic functions were calculated based on the relation between the generalized force and the fluid force. Second, a neural network was trained through the data generated from this model to obtain a predictive yaw controller that could control the orientation by the different offsets of each link. Finally, simulations were conducted to demonstrate the performance of the controller.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Information Sciences - Volume 237, 10 July 2013, Pages 39–48
نویسندگان
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