Maneuverability modeling and trajectory tracking for fish robot |
| |
Affiliation: | 1. EXA Corporation, Livonia, MI, USA;2. Department of Mechanical Engineering, University of Texas at Dallas, Richardson, TX, USA;3. High Altitude Trading, Inc., Jackson, WY, USA;1. University of Applied Sciences Aschaffenburg, Würzburger Str. 45, 63743 Aschaffenburg, Germany;2. ifak - Institute of Automation and Communication, Werner-Heisenberg-Str. 1, 39106 Magdeburg, Germany;1. School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, 1037, Luoyu Road, 430074 Wuhan, China;2. State Key Lab of Digital Manufacturing, Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China |
| |
Abstract: | This study develops a 6-DOF mathematical model for a robotic fish that considers surge, sway, heave, roll, pitch, and yaw. The model considers the conditions of a fish swimming in ocean current perturbations similar to the ocean current perturbations of the slender-body autonomous underwater vehicles. For swimming and turning behaviors, a nonlinear, dynamic, carangiform locomotion model is derived by using a planar four-link model. A 2-DOF barycenter mechanism is proposed to provide body stabilization and to serve as an actuating device for active control design. A barycenter control scheme is developed to change the center of gravity of the robot fish body by moving balancing masses along two axes. The projected torque on x and y axes propel pitch and roll angles to the desired settings. A Stabilizing controller, fish-tail mechanism, rigid body dynamics, and kinematics are incorporated to enable the fish robot to move in three dimensional space. Simulation results have demonstrated maneuverability and control system performance of the developed controller which is proposed to conduct path tracking of the robot fish as it swims under current perturbations. |
| |
Keywords: | Fish robot Maneuverability Trajectory control Modeling Carangiform locomotion |
本文献已被 ScienceDirect 等数据库收录! |
|