DocumentCode :
1773018
Title :
Dynamics model and adaptive control of underwater fish-like micro mobile robot with PZT actuator
Author :
Farahani, Alireza Ahangarani ; Suratgar, A.A. ; Talebi, H.A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Semnan Univ., Semnan, Iran
fYear :
2014
fDate :
15-17 Oct. 2014
Firstpage :
137
Lastpage :
142
Abstract :
This paper presents a new dynamic model, motion mechanism, and control for an underwater fish-like micro mobile robot. The micro mobile robot is actuated by two Lead Zirconate Titanate (PZT), each of which operates independently; this means that the robot has 2 Degrees of Freedom (DOF). PZT actuators are considered linear models without dynamics. Displacements of PZT actuators are quite limited so magnification mechanisms are used as displacement amplifiers. Fins consist of one part and have been connected to the end of magnification mechanisms. Fins generate propulsion force which results in the movement of the robot. Since this robot moves in any aqueous medium with various liquid densities, parameters of the micro mobile robot are uncertain; thus a controller based on adaptive control technique is designed. The main purpose of designing this adaptive controller is to make the robot track the desired trajectory. We present simulations to demonstrate the validity of this approach.
Keywords :
adaptive control; control system synthesis; microactuators; microrobots; mobile robots; motion control; trajectory control; PZT actuator; adaptive controller design; dynamic model; lead zirconate titanate; motion mechanism; trajectory tracking; underwater fish-like micromobile robot; Actuators; Adaptive control; Dynamics; Force; Mobile robots; Trajectory; Adaptive Control; Micro Mobile Robot; Microrobot; PZT Actuator;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Mechatronics (ICRoM), 2014 Second RSI/ISM International Conference on
Conference_Location :
Tehran
Type :
conf
DOI :
10.1109/ICRoM.2014.6990890
Filename :
6990890
Link To Document :
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