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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| _version_ | 1850170106398638080 |
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| author | Shouxu Zhang Bo Jiang Xiaoxuan Chen Jian Liang Peng Cui Xinxin Guo |
| author_facet | Shouxu Zhang Bo Jiang Xiaoxuan Chen Jian Liang Peng Cui Xinxin Guo |
| author_sort | Shouxu Zhang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-a30e4ade2ae647e28f318793c43bb918 |
| institution | OA Journals |
| issn | 1076-2787 1099-0526 |
| language | English |
| publishDate | 2018-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Complexity |
| spelling | doaj-art-a30e4ade2ae647e28f318793c43bb9182025-08-20T02:20:33ZengWileyComplexity1076-27871099-05262018-01-01201810.1155/2018/46572354657235Modeling and Dynamic Control of a Class of Semibiomimetic Robotic FishShouxu Zhang0Bo Jiang1Xiaoxuan Chen2Jian Liang3Peng Cui4Xinxin Guo5School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Information and Technology, Northwest University, Xi’an 710027, ChinaSchool of Information and Technology, Northwest University, Xi’an 710027, ChinaState Key Laboratory of Transient Optics and Photonics, Chinese Academy of Sciences, Xi’an 710119, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaThis 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.http://dx.doi.org/10.1155/2018/4657235 |
| spellingShingle | Shouxu Zhang Bo Jiang Xiaoxuan Chen Jian Liang Peng Cui Xinxin Guo Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish Complexity |
| title | Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish |
| title_full | Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish |
| title_fullStr | Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish |
| title_full_unstemmed | Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish |
| title_short | Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish |
| title_sort | modeling and dynamic control of a class of semibiomimetic robotic fish |
| url | http://dx.doi.org/10.1155/2018/4657235 |
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