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Proceedings Paper

Model identification and controller design of a fish-like robot
Author(s): Irfan Ariyanto; Taesam Kang; Wai Leung Chan; Youngjae Lee
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Paper 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.

Paper Details

Date Published: 18 April 2007
PDF: 8 pages
Proc. SPIE 6523, Modeling, Signal Processing, and Control for Smart Structures 2007, 652306 (18 April 2007); doi: 10.1117/12.715530
Show Author Affiliations
Irfan Ariyanto, Konkuk Univ. (South Korea)
Taesam Kang, Konkuk Univ. (South Korea)
Wai Leung Chan, Konkuk Univ. (South Korea)
Youngjae Lee, Konkuk Univ. (South Korea)

Published in SPIE Proceedings Vol. 6523:
Modeling, Signal Processing, and Control for Smart Structures 2007
Douglas K. Lindner, Editor(s)

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