18 April 2007 Model identification and controller design of a fish-like robot
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Abstract
Robotic fish is an interesting and prospective subject to develop. The simplest fish swimming mode to be mimicked for fish robots is the ostraciiform mode which only requires caudal fin flapping. An almost submerged ostraciiform fish robot was constructed to study its swimming characteristics. The swimming direction can be controlled by changing the mean angle of caudal fin oscillation. Experiments were conducted to study the behavior of the fish robot and in particular, the transfer function between swimming path angular rate and mean angle of the caudal fin oscillation were identified. Error to signal ratio quantity was used to determine how well the model fits with the experimental data. This identification model was used to design a 2-degree-of-freedom PID controller that meets some specific requirements to improve the steering performance.
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Irfan Ariyanto, Irfan Ariyanto, Taesam Kang, Taesam Kang, Wai Leung Chan, Wai Leung Chan, Youngjae Lee, Youngjae Lee, } "Model identification and controller design of a fish-like robot", Proc. SPIE 6523, Modeling, Signal Processing, and Control for Smart Structures 2007, 652306 (18 April 2007); doi: 10.1117/12.715530; https://doi.org/10.1117/12.715530
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