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Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading Tracking. JOURNAL OF MARINE SCIENCE AND ENGINEERING 2022. [DOI: 10.3390/jmse10060758] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 01/27/2023]
Abstract
Aiming at the difficult problem of motion control of robotic manta with pectoral fin flexible deformation, this paper proposes a control scheme that combines the bioinspired Central Pattern Generator (CPG) and T-S Fuzzy neural network(NN)-based control. An improved CPG drive network is presented for the multi-stage fin structure of the robotic manta. Considering the unknown dynamics and the external environmental disturbances, a sensor-based classic T-S Fuzzy NN controller is designed for heading and depth control. Finally, a pool test demonstrates the effectiveness and robustness of the proposed controller: the robotic manta can track the depth and heading with an error of ±6 cm and ±6°, satisfying accuracy requirements.
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