Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish

Complexity 2018:1-8 (2018)

Abstract
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 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.
Keywords No keywords specified (fix it)
Categories No categories specified
(categorize this paper)
DOI 10.1155/2018/4657235
Options
Edit this record
Mark as duplicate
Export citation
Find it on Scholar
Request removal from index
Revision history

Download options

Our Archive


Upload a copy of this paper     Check publisher's policy     Papers currently archived: 48,955
External links

Setup an account with your affiliations in order to access resources via your University's proxy server
Configure custom proxy (use this if your affiliation does not provide a proxy)
Through your library

References found in this work BETA

No references found.

Add more references

Citations of this work BETA

No citations found.

Add more citations

Similar books and articles

Monadic Dynamic Algebras.S. Marques Pinto, M. Teresa Oliveira-Martins & M. Céu Pinto - 2006 - Mathematical Logic Quarterly 52 (2):134-150.
Predators or Ploughshares? Arms Control of Robotic Weapons.Robert Sparrow - 2009 - IEEE Technology and Society 28 (1):25-29.

Analytics

Added to PP index
2018-07-05

Total views
11 ( #746,938 of 2,310,280 )

Recent downloads (6 months)
3 ( #351,978 of 2,310,280 )

How can I increase my downloads?

Downloads

My notes

Sign in to use this feature