Title :
Modelling and experimental investigation of carangiform locomotion for control
Author :
Kelly, Scott D. ; Mason, Richard J. ; Anhalt, Carl T. ; Murray, Richard M. ; Burdick, Joel W.
Author_Institution :
Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA
Abstract :
We propose a model for planar carangiform swimming based on conservative equations for the interaction of a rigid body and an incompressible fluid. We account for the generation of thrust due to vortex shedding through controlled coupling terms. We investigate the correct form of this coupling experimentally with a robotic propulsor, comparing its observed behavior to that predicted by unsteady hydrodynamics. Our analysis of thrust generation by an oscillating hydrofoil allows us to characterize and evaluate certain families of gaits. Our final swimming model takes the form of a control-affine nonlinear system
Keywords :
biological fluid dynamics; external flows; flow instability; fluid oscillations; marine systems; mobile robots; nonlinear control systems; vortices; carangiform locomotion; conservative equations; control; control-affine nonlinear system; gait families; incompressible fluid; oscillating hydrofoil; planar carangiform swimming; rigid body; robotic propulsor; thrust generation; unsteady hydrodynamics; vortex shedding; Character generation; Control system synthesis; Equations; Hydrodynamics; Marine animals; Nonlinear control systems; Propulsion; Robots; Solid modeling; Viscosity;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.703619
