Earticle

초록

영어

Rhythmic movements show fundamental motion patterns in the locomotion of animals. Inspired by real animals, biomimetic robots also adopt similar locomotion pattern in order to obtain versatile mobility. For the motorized mechatronic systems in robots, trajectory tracking control of rhythmic motions is a challenge because periodical friction and other un-modeled dynamics may exist and they bring disturbance to the system. In order to enhance the tracking performance, a robust tracking controller for a biomimetic fish robot is discussed in this paper. The disturbance and the command signal will be modeled in the controller design. The controller can yield theoretically zero tracking error to a sinusoidal command input. The formulation of the controller and experimental results are presented in the paper.

목차

Abstract
 1. Introduction
 2. The Motion Control Model
 3. Design of Gait Tracking Controllers
  3.1. Limitation of PID Controller
  3.2. Design of a Robust Gait Controller
 4. Experiment of Gait Tracking Control
 5. Concluding Remarks
 Acknowledgements
 References

키워드

저자

• Chunlin Zhou [ Department of Control Science and Engineering, Zhejiang University, China 310027 ]
• K. H. Low [ School of Mechanical & Aerospace Engineering, Nanyang Technological University, Singapore 639798 ]

참고문헌

발행기관

간행물

표지보기 관심저널 등록

• 간행물명

  International Journal of Control and Automation

• 간기

  월간

• pISSN

  2005-4297

• 수록기간

  2008~2016

• 십진분류

  KDC 505 DDC 605