The purpose of this paper is to study the control method of the Robotic Manta and complete its depth control using a T-S fuzzy neural network controller.

    Methods

    The Robotic Manta adopts Median and/or Paired Fin propulsion mode, which has good stability. By adjusting the caudal fin angle, the Robotic Manta can swim upward or downward. Due to the complex hydrodynamics and the uncertainty existing in the environment, it is difficult to establish an accurate mathematical model. In this paper, data acquisition is carried out for the depth control of the Robotic Manta and a T-S fuzzy neural network is designed and trained. Finally, this paper implements the automatic depth control of the Robotic Manta with the T-S fuzzy neural network controller.

    Findings

    The experimental results show that the depth error of the Robotic Manta is less than 60 mm, with good rapidity and small overshoot, which verifies the effectiveness of the T-S fuzzy neural network controller in design and implementation.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Control of Robotic Manta Based on T-S Fuzzy Neural Network


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Wu, Meiping (Herausgeber:in) / Niu, Yifeng (Herausgeber:in) / Gu, Mancang (Herausgeber:in) / Cheng, Jin (Herausgeber:in) / Cao, Yonghui (Autor:in) / Xie, Yu (Autor:in) / Ma, Shumin (Autor:in) / Zhang, Daili (Autor:in) / Hao, Yiwei (Autor:in) / He, Yue (Autor:in) ... [mehr]

    Kongress:

    International Conference on Autonomous Unmanned Systems ; 2021 ; Changsha, China September 24, 2021 - September 26, 2021



    Erscheinungsdatum :

    18.03.2022


    Format / Umfang :

    10 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Control of Robotic Manta Based on T-S Fuzzy Neural Network

    Cao, Yonghui / Xie, Yu / Ma, Shumin et al. | British Library Conference Proceedings | 2022


    Biomimetic robotic manta ray

    WU ZHENGXING / YU JUNZHI / MENG YAN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    BIOMIMETIC ROBOTIC MANTA RAY

    WU ZHENGXING / YU JUNZHI / MENG YAN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    BIONIC ROBOTIC MANTA RAY

    WU ZHENGXING / YU JUNZHI / MENG YAN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Pectoral Fin Modeling of a Robotic Manta

    Zhang, Daili / Xing, Cheng / Yin, Zhonghua et al. | Springer Verlag | 2025