Title :
Dynam ics of a Fish-Like Robot and It´s Controller Design
Author :
Ariyanto, Irfan ; Ang, Taesam K. ; Lee, Y. Oung Jae
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Konkuk Univ., Seoul
Abstract :
A fish-like robot boat has been built to simulate fish swimming dynamics. This robot boat uses oscillating plate swimming mode as it uses only single oscillating tail fin. Several experiments have been carried out to provide sufficient data to be processed for the identification process. The experiment data are collected by using an inertial measurement unit (IMU) which consists of three gyroscopes and three accelerometers. A mathematical model, a transfer function between the swimming direction and the fin´s mean angle of oscillation, is obtained from the data and identification algorithm. The identified model approximates the real system quite well. This model has been used to design PID directional controller for the fish-like robot
Keywords :
control system synthesis; identification; mobile robots; oscillations; robot dynamics; simulation; three-term control; transfer functions; underwater vehicles; PID directional controller design; accelerometers; controller design; fish swimming dynamics simulation; fish-like robot boat dynamics; gyroscopes; identification process; inertial measurement unit; mathematical model; oscillating plate swimming mode; oscillating tail fin; transfer function; Accelerometers; Boats; Gyroscopes; Marine animals; Mathematical model; Measurement units; Robot control; Tail; Three-term control; Transfer functions; PID controller design; directional transfer function; fish-like boat; fish-like robot; model identification;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.314965
