Design of pid controller for control of speed of the robotic fish modeled by Lighthill's large amplitude elongated body theory in linear path

Shahi, M ; Sharif University of Technology | 2010

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  1. Type of Document: Article
  2. DOI: 10.1115/IMECE2009-11045
  3. Publisher: American Society of Mechanical Engineers (ASME) , 2010
  4. Abstract:
  5. Design of robotic fish based on hydrodynamics is presented and Lighthill's Large Amplitude Elongated Body Theory (LAEBT) is used for modeling of the robotic fish in linear path. A PID controller for control of speed in linear path is designed and simulations are presented which shows its effectiveness for speed control of the robotic fish. It has been shown that in perspective of used approximate LAEBT model, the used control law maintains kinematic parameters and therefore, the associated efficiency will be maintained
  6. Keywords:
  7. Design ; Electric control equipment ; Fish ; Fuzzy control ; Mechanical engineering ; Proportional control systems ; Robotics ; Robots ; Speed ; Speed control ; Speed regulators ; Three term control systems ; Two term control systems ; Control laws ; Kinematic parameters ; Large amplitude ; Pid controller ; PID controllers ; Robotic fish ; Robotic fishes ; Controllers
  8. Source: ASME International Mechanical Engineering Congress and Exposition, Proceedings, 13 November 2009 through 19 November 2009, Lake Buena Vista, FL ; Volume 10, Issue PART A , 2010 , Pages 117-124 ; 9780791843833 (ISBN)
  9. URL: http://proceedings.asmedigitalcollection.asme.org/proceeding.aspx?articleid=1641632