Modeling and dynamic control of a class of semibiomimetic robotic fish

DOI10.1155/2018/4657235MaRDI QIDQ1791121zbMATH OpenOpenAlexWikidataFDO

Authors Shouxu Zhang, Bo Jiang, Xiaoxuan Chen, Jian Liang, Peng Cui, Xinxin Guo

Publication date 4 October 2018

Published in Complexity (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2018/4657235

zbMATH Keywords

controllabilityfeedback linearization techniquegeneralized Lagrange equationrobotic fish

Mathematics Subject Classification ID

Artificial intelligence for robotics (68T40) Controllability (93B05) Linearizations (93B18) Feedback control (93B52) Automated systems (robots, etc.) in control theory (93C85)

Review text

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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Cites work

• Effects of feedback regulation on vegetation patterns in semi-arid environments

Cited in

(12)

• Reinforcement learning-based optimization of locomotion controller using multiple coupled CPG oscillators for elongated undulating fin propulsion
• An equilibrium-based learning approach with application to robotic fish
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• CPG based motion control of biomimetic robotic fish
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