Modeling and dynamic control of a class of semibiomimetic robotic fish (Q1791121): Difference between revisions
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scientific article
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English | Modeling and dynamic control of a class of semibiomimetic robotic fish |
scientific article |
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Modeling and dynamic control of a class of semibiomimetic robotic fish (English)
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4 October 2018
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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 \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.
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robotic fish
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generalized Lagrange equation
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controllability
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feedback linearization technique
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