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Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish
Zhang, Shouxu1; Jiang, Bo2; Chen, Xiaoxuan2; Liang, Jian3; Cui, Peng1; Guo, Xinxin1
Department信息光子学研究室
2018
Source PublicationCOMPLEXITY
ISSN1076-2787
Contribution Rank3
Abstract

This paper proposes a new robotic fish which avoids the complex mechanical structure and reduces the model complexity comparing to the existing bioinspired robotic fish, giving rise to a semibiomimetic robotic fish. The generalized Lagrange equation is adopted to establish the dynamic model of the robotic fish. The controllability of the system is analyzed, upon which a trajectory tracking control algorithm is designed by using the feedback linearization technique. The simulation results show that the dynamic model adopted in this paper can achieve better control performance.

DOI10.1155/2018/4657235
Indexed BySCIE ; EI
Language英语
WOS Research AreaMathematics ; Science & Technology - Other Topics
WOS IDWOS:000438804800001
PublisherWILEY-HINDAWI
EI Accession Number20191106644119
Citation statistics
Document Type期刊论文
Identifierhttp://ir.opt.ac.cn/handle/181661/30524
Collection信息光子学研究室
Corresponding AuthorZhang, Shouxu
Affiliation1.Northwestern Polytech Univ, Sch Marine Sci & Technol, Xian 710072, Shaanxi, Peoples R China
2.Northwest Univ, Sch Informat & Technol, Xian 710027, Shaanxi, Peoples R China
3.Chinese Acad Sci, State Key Lab Transient Opt & Photon, Xian 710119, Shaanxi, Peoples R China
Recommended Citation
GB/T 7714
Zhang, Shouxu,Jiang, Bo,Chen, Xiaoxuan,et al. Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish[J]. COMPLEXITY,2018.
APA Zhang, Shouxu,Jiang, Bo,Chen, Xiaoxuan,Liang, Jian,Cui, Peng,&Guo, Xinxin.(2018).Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish.COMPLEXITY.
MLA Zhang, Shouxu,et al."Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish".COMPLEXITY (2018).
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