Model identification and control of a fish-like robot
The development of underwater vehicles is a big challenge in marine study,ocean investigation and surveillance.Fish-like propulsive method is one of the design options to achieve high swimming efficiency and quiet underwater vehicles.In this paper,a fish-like robot,which mimics a fish with ostraciiform swimming mode,was built to study its swimming performance and identify its mathematical model for swimming.This robot demonstrated a simple mechanical design for swimming forward and direction steering with the control of a tail fin only.Oscillation of the tail fin about the fish-like robot body axis generated a trusting force to propel the robot moving forward.With the tail oscillated about an angle,called mean angle,relative to the robot body axis,the swimming direction could be changed.An attitude reference system unit was mounted on the robot to record the swimming direction for different mean angles.The mathematical model of the robot fish steering was constructed via system identification,and the transfer function,which relates the swimming direction rate and the mean angle,was obtained.This identified model was used for steering control design to meet some specific requirements and improve the steering performance.
fish robot ostraciiform model identification underwater vehicles
Wai Leung Chan Taesam Kang Young Jae Lee
Department of Aerospace and Information Engineering,Konkuk University,1 Hwayang-dong,Gwangjin-gu,Seoul 143-701,South Korea
国际会议
The World Forum on Smart Materials and Smart Structures Technology(SMSST07)(2007年世界智能材料与智能结构技术论坛)
重庆·南京
英文
2007-05-01（万方平台首次上网日期，不代表论文的发表时间）