Suspension Control of a Robot Fish at the Given Diving Depth
نویسندگان
چکیده
In this paper, the suspension control of a Robot Fish with two 2-DOF pectoral fins, a caudal fin and a volume regulator is introduced. Because the diving depth of the robot fish is related to its volume and the hydrodynamic forces acting on its body, the suspension control is implemented by regulating the attack angle of pectoral fins and the volume of the robot fish body. The attack angle of pectoral fins is regulated by a fuzzy controller, and the volume of the robot fish is adjusted to a certain value according to the given depth. A dynamic model of the robot fish which specifies the robot fish’s descending and ascending motions is established in this paper. The simulation results indicate that the robot fish is able to arrive at the given depth without overshoot and stay at the given depth without oscillating of fins.
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