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Volume 19 Issue 6
 
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Article Navigation >  Journal of Unmanned Undersea Systems  > 2011  >  19(6): 438-442
SHEN Chao, LIU Ming-yong, LIANG Qing-wei. A CPG-based Method for Motion Control of Flapping-wing UUV[J]. Journal of Unmanned Undersea Systems, 2011, 19(6): 438-442. doi: 10.11993/j.issn.1673-1948.2011.06.008
Citation: SHEN Chao, LIU Ming-yong, LIANG Qing-wei. A CPG-based Method for Motion Control of Flapping-wing UUV[J]. Journal of Unmanned Undersea Systems, 2011, 19(6): 438-442. doi: 10.11993/j.issn.1673-1948.2011.06.008
shu

A CPG-based Method for Motion Control of Flapping-wing UUV

doi: 10.11993/j.issn.1673-1948.2011.06.008

  • College of Marine Engineering, Northwestern Polytechnical University, Xi′an 710072, China

  • Received Date: 2011-07-11
  • Rev Recd Date: 2011-08-22
  • Publish Date: 2011-12-30
    Abstract
  • Traditional methods for robot motion control need complex dynamic and kinematic models, and are lack of real-time especially for the control tasks with multiple degrees of freedom (multi-dof). Central pattern generator (CPG) is good at dealing with multi-dof control tasks. This paper analyzes the flapping-wing’s influence on UUV’s motion, and proposes a CPG-based method for motion control of a flapping-wing UUV. The motion mode of the wings is controlled by using feedback signals, and two control laws for UUV′s straight and turning motions are designed by adjusting the relations among CPG parameters, feedback control input, and CPG output. Simulation result indicates that the CPG-based method is feasible and effective.

     

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