Fault-Tolerant Control of a CPG-Governed Robotic Fish

作     者：Yueqi Yang Jian Wang Zhengxing Wu Junzhi Yu 

作者机构：State Key Laboratory of Management and Control for Complex SystemsInstitute of AutomationChinese Academy of SciencesBeijing 100049China University of the Chinese Academy of SciencesBeijing 100049China 

出 版 物：《Engineering》 (工程（英文）)

年 卷 期：2018年第4卷第6期

页      面：861-868页

核心收录：

学科分类：0810[工学-信息与通信工程] 0830[工学-环境科学与工程（可授工学、理学、农学学位）] 0808[工学-电气工程] 07[理学] 0817[工学-化学工程与技术] 08[工学] 0807[工学-动力工程及工程热物理] 0805[工学-材料科学与工程（可授工学、理学学位）] 0703[理学-化学] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

基　　金：the National Natural Science Foundation of China(61725305,61633020,61633004,and 61633017) the Beijing Natural Science Foundation(4161002) the Beijing Advanced Innovation Center for Intelligent Robots and Systems(2016IRS02) 

主　　题：Fault-tolerant control Robotic fish Motion control Feedback controller Feedforward compensator 

摘      要：Fault tolerance is essential for the maneuverability of self-propelled biomimetic robotic fish in real-world aquatic *** paper explores the fault-tolerance control problem of a free-swimming robotic fish with multiple moving joints and a stuck tail *** created control system is composed of two main components:a feedback controller and a feedforward ***,the bio-inspired central pattern generator-based feedback controller is designed to make the robotic fish robust to external disturbances,while the feedforward compensator speeds up the convergence of the overall control *** are performed for control system analysis and performance validation of the faulty robotic *** experimental results demonstrate that the proposed fault-tolerant control method is able to effectively regulate the faulty robotic fish,allowing it to complete the desired motion in the presence of damage and thereby improving both the stability and the lifetime of the real robotic system.