Dynamics model and control of underwater fish-like micro mobile robot with PZT actuator

Author

Farahani, Alireza Ahangarani ; Suratgar, A.A. ; Talebi, H.A.

Author_Institution

Dept. of Electr. Eng., Amirkabir Univ. of Technol., Tehran, Iran

fYear

2013

fDate

13-15 Feb. 2013

Firstpage

437

Lastpage

442

Abstract

This paper presents a dynamic model for an underwater fish-like micro mobile robot. The micro mobile robot is actuated by Lead Zirconate Titanate (PZT). The two PZT actuators operate independently which means that the robot has 2 Degree of Freedom (DOF). Linear models without considering the dynamics for PZT actuators are considered. Displacement of PZT actuators are very small so is used the magnification mechanism as displacement amplifier. The robot has two fins that generate propulsion force which results in the movement of the robot. Then, a feedback linearization-based tracking controller is designed. The simulation results are presented to show the effectiveness of the controller.

Keywords

autonomous underwater vehicles; control system synthesis; feedback; linearisation techniques; marine propulsion; microrobots; mobile robots; piezoelectric actuators; 2-degree of freedom robot; PZT actuator; displacement amplifier; feedback linearization-based tracking controller design; lead zirconate titanate; linear models; magnification mechanism; propulsion force; underwater fish-like micromobile robot control; underwater fish-like micromobile robot dynamics model; Actuators; Equations; Indexes; Lead; Radio frequency; Robots; Software packages; Feedback Linearization; Fish-Like microrobot; Micro Mobile Robot; Micro actuator; Microrobot; PZT actuator;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Mechatronics (ICRoM), 2013 First RSI/ISM International Conference on

Conference_Location

Tehran

Print_ISBN

978-1-4673-5809-5

Type

conf

DOI

10.1109/ICRoM.2013.6510147

Filename

6510147