Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish
This paper proposes a new robotic fish which avoids the complex mechanical structure and reduces the model complexity comparing to the existing bioinspired robotic fish, giving rise to a semibiomimetic robotic fish. The generalized Lagrange equation is adopted to establish the dynamic model of the r...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2018-01-01
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| Series: | Complexity |
| Online Access: | http://dx.doi.org/10.1155/2018/4657235 |
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| Summary: | This paper proposes a new robotic fish which avoids the complex mechanical structure and reduces the model complexity comparing to the existing bioinspired robotic fish, giving rise to a semibiomimetic robotic fish. The generalized Lagrange equation is adopted to establish the dynamic model of the robotic fish. The controllability of the system is analyzed, upon which a trajectory tracking control algorithm is designed by using the feedback linearization technique. The simulation results show that the dynamic model adopted in this paper can achieve better control performance. |
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| ISSN: | 1076-2787 1099-0526 |