Optimal control of a mackerel-mimicking robot for energy efficient trajectory tracking
Source abstract
Abstract
A robotic fish, BASEMACK1, is designed and fabricated by mimicking the shape of a live mackerel. Three DC servo-motors are serially linked together and actuated to mimic the mackerel’s Carangiform motion. Hydrodynamic characteristics of a fish-mimetic test model are experimentally identified and utilized in order to numerically simulate fish swimming. The discrete set of kinematic and dynamic parameters are obtained by considering required horizontal and lateral forces and minimum energy consumption. Using the optimized parameter set, optimal control of the robot is studied.
Source: openaire · Quality: candidate unverified · Source record ↗
Research context
OpenAlex topics: Biomimetic flight and propulsion mechanisms · Adaptive Dynamic Programming Control · Adaptive Control of Nonlinear Systems
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References (10)
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