scholarly journals Brain-Map Based Carangiform Swimming Behaviour Modeling and Control in a Robotic Fish Underwater Vehicle

10.5772/60085 ◽  
2015 ◽  
Vol 12 (5) ◽  
pp. 52 ◽  
Author(s):  
Abhra Roy Chowdhury ◽  
Sanjib Kumar Panda
Keyword(s):  
Underwater Vehicle ◽  
Robotic Fish ◽  
Swimming Behaviour ◽  
Modeling And Control ◽  
And Control ◽  
Carangiform Swimming

Conception of Research on Bionic Underwater Vehicle with Undulating Propulsion

2011 ◽  
Vol 180 ◽  
pp. 160-167 ◽  
Author(s):  
Piotr Szymak ◽  
Marcin Morawski ◽  
Marcin Malec
Keyword(s):  
Mathematical Model ◽  
Control System ◽  
Mathematical Description ◽  
Underwater Vehicle ◽  
Underwater Vehicles ◽  
Robotic Fish ◽  
Fish Movement ◽  
Vehicle Motion ◽  
Scientists And Engineers ◽  
And Control

Fish-like swimming has been attracting scientists and engineers attention since many years resulting in attempts of mathematical description of fish movement and its implementation in many interesting prototypes of underwater vehicles. In this paper, conception of research on simulation, implementation and control of bionic underwater vehicle BUV with undulating propulsion is presented. In the next sections, introduction and mathematical model of bionic underwater vehicle motion are included. Then, the last implementation of the robotic fish called CyberFish, which movement is based on the presented mathematic description is presented and shortly described. In the last sections, conception of research on control system of BUV and conclusions are presented.

Novel Method for the Modeling and Control Investigation of Efficient Swimming for Robotic Fish

2012 ◽  
Vol 59 (8) ◽  
pp. 3176-3188 ◽  
Author(s):  
Li Wen ◽  
Tianmiao Wang ◽  
Guanhao Wu ◽  
Jianhong Liang ◽  
Chaolei Wang
Keyword(s):  
Robotic Fish ◽  
Modeling And Control ◽  
Novel Method ◽  
And Control

Modeling and Control of a Highly Modular Underwater Vehicle with Experimental Results

2021 ◽  
Author(s):  
Erik Rentzow ◽  
Thilo Muller ◽  
Matthias Golz ◽  
Sebastian Ritz ◽  
Martin Kurowski ◽  
...  
Keyword(s):  
Underwater Vehicle ◽  
Experimental Results ◽  
Modeling And Control ◽  
And Control

MODELING AND CONTROL DESIGN OF AN ANGUILLIFORM ROBOTIC FISH

2012 ◽  
Vol 03 (04) ◽  
pp. 1250018 ◽  
Author(s):  
JIAN-XIN XU ◽  
XUE-LEI NIU ◽  
QIN-YUAN REN
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Control Design ◽  
Robotic Fish ◽  
Torque Control ◽  
Underactuated System ◽  
Parameter Uncertainties ◽  
Modeling And Control ◽  
Mode Control ◽  
And Control

In this paper, the modeling and control design of a biomimetic robotic fish is presented. The Anguilliform robotic fish consists of N links and N - 1 joints, and the driving forces are the torques applied to the joints. Considering kinematic constraints, Lagrangian formulation is used to obtain the dynamics of the fish model. The computed torque control method is applied first, which can provide satisfactory tracking responses for fish joints. Since this robotic fish is essentially an underactuated system, the reference trajectories for the orientation of the N links are planned in such a way that, at a neighborhood of the equilibrium point, the tracking task of N angles can be achieved by using N - 1 joint torques. To deal with parameter uncertainties that exist in the actual environment, sliding mode control is adopted. Considering feasibility and complexity issues, a simplified sliding mode control algorithm is given. A four-link robotic fish is modeled and simulated, and the results validate the effectiveness of reference planning and the proposed controllers.

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