Attitude control of a bio-inspired robotic fish with flexible pectoral fins
| Author(s) | Pi, Lijuan | |
| Date Accessioned | 2010-08-05T17:52:15Z | |
| Date Available | 2010-08-05T17:52:15Z | |
| Publication Date | 2009 | |
| Abstract | Micro underwater vehicles (MUVs) have wide potential military, scientific and commercial applications. They are especially suitable for exploring dangerous and limited space. This thesis presents the development of a bio-inspired MUV equipped with flexible fins and attitude measurement sensors. The pair of flexible pectoral fins was driven by mini servo individually to mimic boxfish’s pectoral fin motion. Two sensor fusion methods (Kalman filter based on quaternion and Complementary filter based on Lie groups) was used to estimate robotic fish’s rotational movement. A simplified dynamic model for the robot fish’s attitude control was developed based on the theoretical analysis and experiment results. A linear PD controller was designed to achieve the robot fish’s attitude stabilization in the roll axis by controlling the flapping kinematics of the pectoral fins. Both simulation and experiment results show convergence of roll angles in point-to-point control and trajectory tracking of the desired motion. | en |
| Advisor | Deng, Xinyan | |
| Degree | M.S.M.E. | |
| Department | University of Delaware, Department of Mechanical Engineering | |
| URL | http://udspace.udel.edu/handle/19716/5475 | |
| Publisher | University of Delaware | en |
| dc.subject.lcsh | Robots -- Control systems | |
| dc.subject.lcsh | Submersibles | |
| dc.subject.lcsh | Detectors | |
| dc.subject.lcsh | Fins (Anatomy) | |
| dc.subject.lcsh | Fishes | |
| Title | Attitude control of a bio-inspired robotic fish with flexible pectoral fins | en |
| Type | Thesis | en |