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Modeling and Control of a Fish Robotic System Using Hardware in the Loop Methodology

Zeinoddini Meymand, Sajjad | 2010

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 40395 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Vossoughi, Gholamreza
  7. Abstract:
  8. In the present study, an adaptive sliding mode control method was employed to control a fish robotic system using the method of hardware in the loop. Following the introduction of the nonlinear model for the robot, elongated body theory, suggested by Lighthill, was used to analyze fish movements. Lighthill’s theory inspired from slender body theory in aerodynamics scope could be viable to exercise upon the carangiform mode of swimming. By simplifying Lighthill’s equations in planar motion of fish robot, the number of degrees of freedom exceeds the number of the control variables. In view of the fact that the presented model is an under-actuated model, there exist some parametric and structured uncertainties owing to impediments to the specific modeling of hydrodynamic effects, particularly those integrated with dynamical ones. Up to now, the salient experiments on these robots and their ilk have been concentrated on complicated hydrodynamic analysis of propulsion mechanism which are less usable for control investigations, fins design (specifically pertinent to materials selection), analysis of jointed and fixed structure and remote-controlled approaches. However, few researches have focused on autonomous control of fish robot in dynamic environments which may be the result of difficulties in modeling of hydrodynamical effects on fish robot. Then, kinematics controller to track desired trajectories was designed for underactuated model of robot. Adaptive sliding mode controller, capable of adapting according to changes and uncertainties, was designed and implemented. In addition, a model of robot tail capable of having oscillatory motion under water was fabricated and propulsion forces due to oscillatory motion of tail was obtained using a suitable fabricated test stand. Obtained experimental forces exerted on model of fish robot in MATLAB software associated with kinematics and dynamics controllers were utilized to devise an adaptive algorithm for generalizable propulsion model of robot. Computer simulations accompanied by experimental results verify that presented adaptive controller has two main advantages: first, they make a robot versatile and capable of moving in unknown environments because of system robustness under changes and uncertainties of parameters. Second, they leave out the need for expensive and time consuming experiments to recognize system model and reduce operations for final tuning of controller.
  9. Keywords:
  10. Kinematics Controller ; Sliding Mode Control ; Adaptive Sliding Control ; Hardware in the Loop ; Fish Robot ; Underactuated System

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