Model identification and controller design of a fish-like robot

Irfan Ariyanto; Taesam Kang; Wai Leung Chan; Youngjae Lee

doi:10.1117/12.715530

18 April 2007 Model identification and controller design of a fish-like robot

Irfan Ariyanto, Taesam Kang, Wai Leung Chan, Youngjae Lee

Proceedings Volume 6523, Modeling, Signal Processing, and Control for Smart Structures 2007; 652306 (2007) https://doi.org/10.1117/12.715530
Event: SPIE Smart Structures and Materials + Nondestructive Evaluation and Health Monitoring, 2007, San Diego, California, United States

Abstract

Robotic fish is an interesting and prospective subject to develop. The simplest fish swimming mode to be mimicked for fish robots is the ostraciiform mode which only requires caudal fin flapping. An almost submerged ostraciiform fish robot was constructed to study its swimming characteristics. The swimming direction can be controlled by changing the mean angle of caudal fin oscillation. Experiments were conducted to study the behavior of the fish robot and in particular, the transfer function between swimming path angular rate and mean angle of the caudal fin oscillation were identified. Error to signal ratio quantity was used to determine how well the model fits with the experimental data. This identification model was used to design a 2-degree-of-freedom PID controller that meets some specific requirements to improve the steering performance.

Citation Download Citation

Irfan Ariyanto, Taesam Kang, Wai Leung Chan, and Youngjae Lee "Model identification and controller design of a fish-like robot", Proc. SPIE 6523, Modeling, Signal Processing, and Control for Smart Structures 2007, 652306 (18 April 2007); https://doi.org/10.1117/12.715530

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available