Modeling and dynamic control of a class of semibiomimetic robotic fish (Q1791121): Difference between revisions
From MaRDI portal
Set OpenAlex properties. |
ReferenceBot (talk | contribs) Changed an Item |
||
| Property / cites work | |||
| Property / cites work: Effects of feedback regulation on vegetation patterns in semi-arid environments / rank | |||
Normal rank | |||
Revision as of 17:45, 16 July 2024
scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | Modeling and dynamic control of a class of semibiomimetic robotic fish |
scientific article |
Statements
Modeling and dynamic control of a class of semibiomimetic robotic fish (English)
0 references
4 October 2018
0 references
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 \textit{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.
0 references
robotic fish
0 references
generalized Lagrange equation
0 references
controllability
0 references
feedback linearization technique
0 references
