Gliding depth control method, system and device for biomimetic gliding robotic dolphin
US10935986B1 · kind B1 · utility
Assignee
Inventors
Key dates
| Filing date | Oct 14, 2020 |
| Grant date | Mar 2, 2021 |
| Priority date | — |
| Expiry date | Oct 14, 2040 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB63G2008/004
- WIPO fieldTransport
- WIPO sectorMechanical engineering
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.