Dynamic Modeling and Fuzzy Control of Water Strider Robot
To make water strider robot (WSR) walk on the water, the robots dynamics modeling and control algorithms are discussed in the paper. The dynamics equations of WSR and dynamics equations concerning the actuator (motor) are established. Considering the motions non-holonomic feature of the WSR, and inaccurate equations themselves, a fuzzy control method is applied in the paper. After calibration of the sensor, on the basis of fitting motor voltage and rotation speed, a fuzzy controller is developed to allow the robot approaching the light source target and tracking the trajectory of the target Finally Matlab/Simutink is used to simulate autonomous motion of water strider robot Simulation results show the effectiveness and accuracy of the approach.
water strider robot dynamics fuzxy control autonomous motion
Shuhui Wang Licheng Wu Haiwen Yuan
School of Automation Science and Electrical Engineering University of Aeronautics and Astronautics B School of Information Engineering Minzu University of China Beijing, China
国际会议
哈尔滨
英文
3400-3403
2011-08-12（万方平台首次上网日期，不代表论文的发表时间）