Title :
Nonlinear control methods for planar carangiform robot fish locomotion
Author :
Morgansen, Kristi A. ; Duidam, V. ; Mason, Richard J. ; Burdick, Joel W. ; Murray, Richard M.
Author_Institution :
Control & Dynamical Syst., California Inst. of Technol., Pasadena, CA, USA
Abstract :
Considers the design of motion control algorithms for robot fish. We present modeling, control design, and experimental trajectory tracking results for an experimental planar robotic fish system that is propelled using carangiform-like locomotion. Our model for the fish´s propulsion is based on quasi-steady fluid flow. Using this model, we propose gaits for forward and turning trajectories and analyze system response under such control strategies. Our models and predictions are verified by experiment.
Keywords :
control system synthesis; mobile robots; motion control; nonlinear control systems; position control; control design; forward trajectories; nonlinear control methods; planar carangiform robot fish locomotion; quasi-steady fluid flow; trajectory tracking; turning trajectories; Algorithm design and analysis; Control design; Fluid flow; Fluid flow control; Marine animals; Motion control; Propulsion; Robots; Trajectory; Turning;
Conference_Titel :
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
Print_ISBN :
0-7803-6576-3
DOI :
10.1109/ROBOT.2001.932588
