Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish

Shouxu Zhang, Bo Jiang, Xiaoxuan Chen, Jian Liang, Peng Cui and Xinxin Guo

Complexity, 2018, vol. 2018, 1-8

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.

Date: 2018
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Persistent link: https://EconPapers.repec.org/RePEc:hin:complx:4657235

DOI: 10.1155/2018/4657235

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