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Volume 41 Issue 11
Nov.  2015
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Journal of Beijing University of Aeronautics and Astronautics  > 2015  >  41(11): 2184-2190.
GONG Zhao, CAI Yueri, BI Shusheng, et al. Roll maneuver control of robotic fish propelled by oscillating pectoral fins[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(11): 2184-2190. doi: 10.13700/j.bh.1001-5965.2014.0748(in Chinese)
Citation: GONG Zhao, CAI Yueri, BI Shusheng, et al. Roll maneuver control of robotic fish propelled by oscillating pectoral fins[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(11): 2184-2190. doi: 10.13700/j.bh.1001-5965.2014.0748(in Chinese)
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Roll maneuver control of robotic fish propelled by oscillating pectoral fins

doi: 10.13700/j.bh.1001-5965.2014.0748

  • School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • Received Date: 01 Dec 2014
  • Rev Recd Date: 06 Mar 2015
  • Publish Date: 20 Nov 2015
    Abstract
  • Based on the practical requirements on the research of the roll maneuver control of robotic fish propelled by oscillating pectoral fins, a central pattern generator (CPG) based fuzzy control method was presented. Pectoral fins oscillating disciplines which drive the robotic fish roll were obtained by mimicking the pectoral fins oscillating pattern of natural prototype, and relative parameters were defined to quantitatively describe the disciplines. Based on the CPG model, a fuzzy method controller was built to achieve the roll motion control of robotic fish. Experiments were presented and the related results were analyzed in detail. Results show that the robotic fish rolls quickly to reach the target angle at the maximum angular velocity of 10(°)/s, and the steady state error is less than ±5°. Finally, with the combination of the roll maneuver control and the yaw control, the robotic fish can swim through a narrow space with the width of 1/2 wingspan,which shows the high maneuvering ability of the robotic fish propelled by oscillating pectoral fins.

     

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