Một phân tích động lực học mới để điều khiển robot cá dạng carangiform bám theo quỹ đạo cho trước

Tgp Chi Khoa Hgc Gido Dgc Ky Thugt (33/2015)

Tru&ng Dgi Hgc Su Phgm Ky Thugt TR Hd ChiMinh

MQT PHAN TICH DQNG LlTC HQC MOI DE DIEU KHIEN ROBOT CA

DANG CARANGIFORM BAM THEO QUY DAO CHO TRlTdC

THE NEW DYNAMIC ANALYSIS APPROACH AND TRAJECTORY FOL￾LOWING CONTROL OF A CARANGIFORM FISH ROBOT

Hoang Khac Anh, Pham Van Anh,

Nguyin Tan Tien, VS Tudng Quan

Tru&ng Dgi hgc Bdch Khoa TP.HCM

Ng^ytda so^n nh^n bai 20/4/2015, ngay phan bi$n d^nh gi^ 22/4/2015, ngay chip nh$n dang 27/4/2015

TOM TAT

Bdi bdo giai thieu mgt phdn tich dgng luc hgc mai de diiu khien robot cd 3 kh&p dgng Ca￾rangiform bdm theo 16 trinh xdc dinh vai di xudt su- dung kit hgp phuang trinh Newton-Euler

vd Euler-Lagrange. Robot cd dugc thiit ki bao gom 2 phdn: phdn ddu vdphdn duoi. Viec dieu

khiin phan duoi cua robot cd - dugc phdn tich bdng ly thuyet dgng l\rc hoc tay mdy robot - se

giup rdbdt cd di chuyin theo lo trinh xdc dinh, chdng hgn nhu co the dieu khien robot cd di

chuyin trong mat phdng ndm ngang. Trong bdi bdo ndy, cdc nghien cuu tap trung vdo viic dieu

khiin robot cd bai theo quy dgo cho truac trong mat phdng ngang vd di chuyen den do sdu

mong muon trong mat phdng Oyz chua dugc xem xet den. Mgt bg dieu khien Fuzzy vd Adaptive

BackStepping da dugc phdt trien de dieu khiin phdn duoi giup robot cd bdm theo quy dgo cho truac.

Tie khoa: robot cd, dgng luc hgc tay mdy, bg dieu khiin backstepping, bg diiu khien Fuzzy

ABSTRACT

This paper proposes a new dynamic analysis to control a 3-joint Carangiform fish robot

swim to along a desired trajectory by using Newton-Euler and Euler-Lagrange concepts. The

fish robot is designed into two parts: the head and the tail of the fish robot. The tail of the fish

robot will be analyzed quite similarly to the analysis of the dynamic model of the manipulator.

By controlling the tail with respect to the desired profiles, one can control the fish robot on the

horizontal plane. To simplify, it is assumed that the motions of the fish robot include two main

actions: the movement offish robot on the horizontal plane and movement offish robot to the

desired depth. The movement of the fish robot to the desired depth is ignored. In this paper, the

authors only focus on the control on the fish robot to swim following the desired trajectory on

the horizontal plane. Fuzzy and Adaptive Back Stepping controllers are developed to control

the tail for this purpose.

Key words: fish robot, dynamic model, backstepping controller, fuzzy controller.

1. GIOI THI|;U

Ngay nay, hudng nghien cftu v6 robot cd ca [1]. Mat khdc vi phdn logi robot ed, ta co

dang phat trien rdt manh va da dat dugc nhiiu thi chia chftng lam hai dang chinh dya vao

thanh tuu ddng ke. J. Edward Colgate vd Kev- hinh dang boi cfta chiing: BCF (Body and/or

in M. Lynch da cdng bd mdt bdi bdo rdt cd y Caudal Fin) vd MPF (Median and/or Paired

nghia trinh bay tdng quan lgi tdt ca vi thiit ki Fin) [2]. BCF dya tten nhftng thay ddi hinh

CO khi cung nhu viec dieu khiin boi cho robot dang cua than, dudi va vdy dudi de tgo lyc