Gliding Robotic Fish and its Tail-Enabled Yaw Motion Stabilization Using Sliding Mode Control

2013 ◽  
Author(s):  
Feitian Zhang ◽  
Xiaobo Tan
Keyword(s):  
Energy Efficiency ◽  
Sliding Mode ◽  
Robotic Fish ◽  
Sliding Mode Controller ◽  
Lateral Motion ◽  
Underwater Robots ◽  
Underwater Gliders ◽  
New Type ◽  
Control Authority ◽  
Motion Stabilization

Gliding robotic fish is a new type of underwater robots that combines the energy-efficiency of underwater gliders and the high maneuverability of robotic fish. The tail fin of a gliding robotic fish provides the robot more control authority, especially for the lateral motion, compared with traditional underwater gliders. In this paper, the design and development of a gliding robotic fish prototype is first presented, followed by its dynamic model. We then focus on the problem of tail-enabled yaw stabilization during gliding, where a sliding mode controller is proposed. Both simulation and experimental results are demonstrated to validate the effectiveness of the proposed controller.

scholarly journals Turning control of a 3- Joint carangiform fish robot using sliding mode based controllers

2015 ◽  
Vol 18 (1) ◽  
pp. 14-26
Author(s):  
Tuong Quan Vo
Keyword(s):  
Dynamic Model ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Sliding Mode Controller ◽  
Underwater Robots ◽  
Fish Robot ◽  
Turning Motion ◽  
New Type ◽  
Fuzzy Sliding Mode ◽  
Turning Control

The fish robot is a new type of biomimetic underwater robot which is developing very fast in recent years by many researchers. Because it moves silently, saves energy, and is flexible in its operation in comparison to other kinds of underwater robots, such as Remotely Operated Vehicles (ROVs) or Autonomous Underwater Vehicles (AUVs). In this paper, we propose an efficient advanced controller that runs well in controlling the motion for our fish robot. First, we derive a new dynamic model of a 3-joint (4 links) Carangiform fish robot. The dynamic model also addresses the heading angle of a fish robot, which is not often covered in other research. Second, we present a Sliding Mode Controller (SMC) and a Fuzzy Sliding Mode Controller (FSMC) to the straight motion and turning motion of a fish robot. Then, in order to prove the effectiveness of the SMC and FSMC, we conduct some numerical simulations to show the feasibility or the advantage of these proposed controllers.

Gliding Robotic Fish: An Underwater Sensing Platform and Its Spiral-Based Tracking in 3D Space

2017 ◽  
Vol 51 (5) ◽  
pp. 71-78 ◽  
Author(s):  
Feitian Zhang ◽  
Osama Ennasr ◽  
Xiaobo Tan
Keyword(s):  
Robotic Fish ◽  
Spiral Trajectory ◽  
Underwater Gliders ◽  
3D Space ◽  
Sensing Platform ◽  
Locomotion Pattern ◽  
New Type ◽  
Turning Radius ◽  
Spiral Trajectories ◽  
Curve Tracking

AbstractGliding robotic fish are a new type of underwater robot that combines the advantages of energy efficiency of underwater gliders and high maneuverability of robotic fish. Tail-enabled spiraling, as a novel locomotion pattern of gliding robotic fish, uses a buoyancy-driven mechanism and features a small turning radius. This paper investigates the spiral trajectory characteristics from the viewpoint of differential geometry and exploits them for curve tracking in the 3D space. The influences of control inputs on spiral trajectories are investigated through both simulation and experiments. A simulation example using a combined feedforward and feedback controller illustrates the proposed curve-tracking approach.

scholarly journals Prescribed Finite-time ESO-based Prescribed Finite-time Control and Its Application to Partial IGC Design

2021 ◽  
Author(s):  
Lei Cui ◽  
Nan Jin
Keyword(s):  
Control Strategy ◽  
Finite Time ◽  
Sliding Mode ◽  
Sliding Mode Controller ◽  
Guidance And Control ◽  
Finite Time Convergence ◽  
Time Control ◽  
New Type ◽  
System States ◽  
And Control

Abstract This paper proposes a new extended stateobserver-based sliding mode control strategy with prescribed finite-time convergence. Firstly, a novel prescribed finite-time extended state observer is designed, which estimates the disturbance accurately within a prescribed finite time and effectively solves peaking value problem. Secondly, a new type of second-order prescribed finite-time sliding mode controller is designed to ensure system states converge within a prescribed finite time. Then, the proposed control strategy is applied to the design of partial integrated guidance and control with two-loop controller structure. Finally, the validity of the proposed methodology is verified through numerical simulation.

scholarly journals Simulation Analysis of Bionic Robot Fish Based on MFC Materials

2019 ◽  
Vol 2019 ◽  
pp. 1-9 ◽  
Author(s):  
Chengguang Zhang
Keyword(s):  
Smart Materials ◽  
Electromechanical Coupling ◽  
Mechanical Load ◽  
Fiber Composite ◽  
Smart Material ◽  
Robotic Fish ◽  
Electromechanical Coupling Coefficient ◽  
Control Analysis ◽  
Underwater Robots ◽  
New Type

With the development of marine resources, research on underwater robots has received unprecedented attention. The discovery and application of new smart materials provide new ideas for the research of underwater robots, which can overcome the issues of traditional underwater robots and optimize their design. A macro fiber composite (MFC) is a new type of piezoelectric fiber composite that combines actuators and sensors. The material has excellent deflection, good flexibility, and a high electromechanical coupling coefficient. Bionic mechatronics design is an effective way to innovate mechatronics in the future and can significantly improve mechatronics system performance. As an important issue for the design of bionic mechatronics, it is necessary to make robots as soft as natural organisms to achieve similar biological movement with both higher efficiency and performance. Compared with traditional rigid robots, the design and control of a soft robotic fish are difficult because the coupling between the flexible structure and the surrounding environment should be considered, which is difficult to solve due to the large deformation and coupling dynamics. In this paper, an MFC smart material is applied as an actuator in the design of bionic robotic fish. Combined with the piezoelectric constitutive and elastic constitutive equations of the MFC material, the voltage-drive signal is converted to a mechanical load applied to the MFC actuator, which makes the MFC material deform and drives the movement of the robotic fish. The characteristics of caudal fin motion during the swimming process of the bionic robotic fish were analyzed by an acoustic-solid coupling analysis method. The motion control analysis of the bionic robotic fish was carried out by changing the applied driving signal. Through numerical analysis, a new type of soft robotic fish was designed, and the feasibility of using an MFC smart material for underwater bionic robotic fish actuators was verified. The new soft robotic fish was successfully developed to achieve high performance.

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