Dynamics model and control of underwater fish-like micro mobile robot with PZT actuator

This paper presents a dynamic model for an underwater fish-like micro mobile robot. The micro mobile robot is actuated by Lead Zirconate Titanate (PZT). The two PZT actuators operate independently which means that the robot has 2 Degree of Freedom (DOF). Linear models without considering the dynamics for PZT actuators are considered. Displacement of PZT actuators are very small so is used the magnification mechanism as displacement amplifier. The robot has two fins that generate propulsion force which results in the movement of the robot. Then, a feedback linearization-based tracking controller is designed. The simulation results are presented to show the effectiveness of the controller.