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Heading control for a robotic dolphin based on a self-tuning fuzzy strategy

Cao, Zhiqiang, Shen, Fei, Zhou, Chao, Gu, Nong, Nahavandi, Saeid and Xu, De 2016, Heading control for a robotic dolphin based on a self-tuning fuzzy strategy, International journal of advanced robotic systems, vol. 13, no. 1, pp. 1-8, doi: 10.5772/62289.

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Title Heading control for a robotic dolphin based on a self-tuning fuzzy strategy
Author(s) Cao, Zhiqiang
Shen, Fei
Zhou, Chao
Gu, Nong
Nahavandi, SaeidORCID iD for Nahavandi, Saeid orcid.org/0000-0002-0360-5270
Xu, De
Journal name International journal of advanced robotic systems
Volume number 13
Issue number 1
Start page 1
End page 8
Total pages 8
Publisher SAGE Publications
Place of publication London, Eng.
Publication date 2016-01-01
ISSN 1729-8806
1729-8814
Keyword(s) Robotic Dolphin
Heading Control
Turning Motion
Self-tuning Fuzzy Control
Science & Technology
Technology
Robotics
FISH ROBOT
DESIGN
IMPLEMENTATION
TRACKING
FINS
Summary In this paper, a heading controller based on a self-tuning fuzzy strategy for a robotic dolphin is proposed to improve control accuracy and stability. The structure of the robotic dolphin is introduced and the turning motion is analysed. The analytic model indicates that the turning joint angle can be employed for the heading control. This non-linear model prevents the successful application of traditional modelbased controllers. A fuzzy controller is proposed to realize the heading control in our work. It should be mentioned that the traditional fuzzy controller suffers from a distinguished steady-state error, due to the fact that the heading range is relatively large and the fuzzy controller's universe of discourse is fixed. To resolve this problem, a self-tuning mechanism is employed to adjust the input and output scaling factors according to the active working region in pursuit of favourable performance. Experimental results demonstrate the performance of the proposed controller in terms of steady-state error and robustness to interferences.
Language eng
DOI 10.5772/62289
Field of Research 099999 Engineering not elsewhere classified
08 Information And Computing Sciences
09 Engineering
17 Psychology And Cognitive Sciences
Socio Economic Objective 0 Not Applicable
HERDC Research category C1 Refereed article in a scholarly journal
ERA Research output type C Journal article
Copyright notice ©2016, The Authors
Free to Read? Yes
Use Rights Creative Commons Attribution licence
Persistent URL http://hdl.handle.net/10536/DRO/DU:30083796

Document type: Journal Article
Collections: Centre for Intelligent Systems Research
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.