Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle: Next Generation Underwater Robots - Couverture souple

Roy Chowdhury, Abhra; Panda, Sanjib Kumar

 
9783659779633: Modeling and Control of a Bioinspired Robotic Fish Underwater Vehicle: Next Generation Underwater Robots
Couverture souple
ISBN 10 : 3659779636 ISBN 13 : 9783659779633
Editeur : LAP LAMBERT Academic Publishing, 2015

Synopsis

Robotic fish is propelled by an oscillating, 2-joint caudal fin and two pectoral fins. Major kinematic parameters of robot are based on kinematics study of a yellow fin tuna. A bio-inspired algorithmic framework with these parameters is found to produce the body wave, along robot’s joints. A novel dynamic model is proposed by unifying conventional rigid body dynamics and bio-fluid-dynamics of carangiform swimming. Accuracies of hydrodynamic forces are examined. A central pattern generator structure is applied to generate desired rhythmic patterns preserving control properties. A two level locomotion control architecture based on vertebrate fish biology is implemented. An inverse dynamic control method based on non-linear state function model is proposed to improve tracking performance. Further, dynamic motion closed loop control strategies are developed, implemented and compared based on three different nonlinear control schemes. Experimental results obtained show that inverse dynamic model based control using dynamic compensation can improve trajectory tracking accuracy and smoothness significantly. Robotic fish is found to exhibit swimming patterns similar to the biological fish.

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Présentation de l'éditeur

Robotic fish is propelled by an oscillating, 2-joint caudal fin and two pectoral fins. Major kinematic parameters of robot are based on kinematics study of a yellow fin tuna. A bio-inspired algorithmic framework with these parameters is found to produce the body wave, along robot’s joints. A novel dynamic model is proposed by unifying conventional rigid body dynamics and bio-fluid-dynamics of carangiform swimming. Accuracies of hydrodynamic forces are examined. A central pattern generator structure is applied to generate desired rhythmic patterns preserving control properties. A two level locomotion control architecture based on vertebrate fish biology is implemented. An inverse dynamic control method based on non-linear state function model is proposed to improve tracking performance. Further, dynamic motion closed loop control strategies are developed, implemented and compared based on three different nonlinear control schemes. Experimental results obtained show that inverse dynamic model based control using dynamic compensation can improve trajectory tracking accuracy and smoothness significantly. Robotic fish is found to exhibit swimming patterns similar to the biological fish.

Biographie de l'auteur

Author has received Ph.D. degree from the Department of Electrical and Computer Engineering, National University of Singapore.He has received M. Tech degree (University gold medal) specializing in Control Systems from Indian Institute of Technology BHU. He holds various awards including IEEE IAS best PhD thesis,IEEE OES scholarship among others.

Les informations fournies dans la section « A propos du livre » peuvent faire référence à une autre édition de ce titre.

Éditeur
LAP LAMBERT Academic Publishing
Date d'édition
2015
Langue
anglais
ISBN 10 
3659779636
ISBN 13 
9783659779633
Reliure
Broché
Nombre de pages
284
Coordonnées du fabricant
non disponible
Personne responsable
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