A gliding depth control method for a biomimetic gliding robotic dolphin includes: obtaining a preset gliding depth and a preset yaw angle; obtaining an estimated velocity by a sliding mode observer based on depth information and inertial navigation information, and obtaining a control quantity of pectoral fins on both sides of the biomimetic gliding robotic dolphin by a yaw controller in combination with the preset yaw angle; obtaining a segmented diving velocity reference trajectory by constructing and segmenting a Bézier curve; obtaining a diving control quantity by a model predictive control method in combination with the estimated velocity; obtaining a target position of a piston through a buoyancy principle, and obtaining a control quantity of the piston according to a current position of the piston; and controlling the biomimetic gliding robotic dolphin to glide based on the control quantity of the piston and the control quantity of the pectoral fins.


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    Title :

    Gliding depth control method, system and device for biomimetic gliding robotic dolphin


    Contributors:
    YU JUNZHI (author) / WU ZHENGXING (author) / WANG JIAN (author) / YAN SHUAIZHENG (author) / TAN MIN (author)

    Publication date :

    2021-03-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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