Dynamic Analysis & Control of a Biomimetic Robotic Fish Employing the Bond Graph Approach

Please enable javascript in your browser.

Daryani Tabrizi, Kasra | 2016

695 Viewed

Type of Document: M.Sc. Thesis
Language: English
Document No: 48266 (58)
University: Sharif University of Technology, International Campus, Kish Island
Department: Science and Engineering
Advisor(s): Selk Ghafari, Ali; Meghdari, Ali
Abstract:
In this thesis, a dynamic model of the biomimetic robotic fish with a flexible tail is developed. In this model, the oscillating frequency of the tail controls the forward velocity, and the body spline offset parameter controls the heading angle. The robotic fish were divided to two parts: a rigid body, and a flexible tail. The rigid body includes the head and the electrical and mechanical equipment. The bond graph model was developed and the numerical values were extracted from constructed robotic fish have also been hydrodynamically analyzed. Simulation results were quantitatively compared and verified with Matlab Simmechanics simulations. These simulations described the lateral movement of the flexible tail as a function of input force, frequency, tail angle offset and actuator properties. For the control system, a fuzzy logic controller (FLC) was developed for the purpose of goal seeking behavior. It was proved that the proposed model is suitable for predicting the real behavior of fish robots
Keywords:
Robotic Fish ; Bond Graph ; Fuzzy Logic Control ; Dynamic Model ; Flexible Tail

No TOC