The new dynamic analyzation approach and trajectory following control of a carangiform fish robot
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tapchikhgkdt@hcmute.edu.vnKeywords:
fish robot, dynamic model, backstepping controller, fuzzy controllerAbstract
This paper proposes a new dynamic analysis to control a 3-joint Carangiform fish robot swim to along a desired trajectory by using Newton-Euler and Euler-Lagrange concepts. The fish robot is designed into two parts: the head and the tail of the fish robot. The tail of the fish robot will be analyzed quite similarly to the analysis of the dynamic model of the manipulator. By controlling the tail with respect to the desired profiles, one can control the fish robot on the horizontal plane. To simplify, it is assumed that the motions of the fish robot include two main actions: the movement of fish robot on the horizontal plane and movement of fish robot to the desired depth. The movement of the fish robot to the desired depth is ignored. In this paper, the authors only focus on the control on the fish robot to swim following the desired trajectory on the horizontal plane. Fuzzy and Adaptive Back Stepping controllers are developed to control the tail for this purpose.
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