Show simple item record

dc.contributor.supervisorSharma, Sanjay
dc.contributor.authorRoper, Daniel
dc.contributor.otherFaculty of Science and Engineeringen_US
dc.date.accessioned2013-07-10T10:27:32Z
dc.date.available2013-07-10T10:27:32Z
dc.date.issued2013
dc.identifier10282824en_US
dc.identifier.urihttp://hdl.handle.net/10026.1/1560
dc.description.abstract

In nature through millions of years of evolution fish and cetaceans have developed fast efficient and highly manoeuvrable methods of marine propulsion.

A recent explosion in demand for sub sea robotics, for conducting tasks such as sub sea exploration and survey has left developers desiring to capture some of the novel mechanisms evolved by fish and cetaceans to increase the efficiency of speed and manoeuvrability of sub sea robots.

Research has revealed that interactions with vortices and other unsteady fluid effects play a significant role in the efficiency of fish and cetaceans. However attempts to duplicate this with robotic fish have been limited by the difficulty of predicting or sensing such uncertain fluid effects. This study aims to develop a gait generation method for a robotic fish with a degree of passivity which could allow the body to dynamically interact with and potentially synchronise with vortices within the flow without the need to actually sense them.

In this study this is achieved through the development of a novel energy based gait generation tactic, where the gait of the robotic fish is determined through regulation of the state energy rather than absolute state position. Rather than treating fluid interactions as undesirable disturbances and `fighting' them to maintain a rigid geometric defined gait, energy based control allows the disturbances to the system generated by vortices in the surrounding flow to contribute to the energy of the system and hence the dynamic motion.

Three different energy controllers are presented within this thesis, a deadbeat energy controller equivalent to an analytically optimised model predictive controller, a $H_\infty$ disturbance rejecting controller with a novel gradient decent optimisation and finally a error feedback controller with a novel alternative error metric. The controllers were tested on a robotic fish simulation platform developed within this project.

The simulation platform consisted of the solution of a series of ordinary differential equations for solid body dynamics coupled with a finite element incompressible fluid dynamic simulation of the surrounding flow. results demonstrated the effectiveness of the energy based control approach and illustrate the importance of choice of controller in performance.

en_US
dc.language.isoenen_US
dc.publisherUniversity of Plymouthen_US
dc.subjectMarine Roboticsen_US
dc.subjectRobotic Fishen_US
dc.subjectControl System Designen_US
dc.subjectRobust Controlen_US
dc.subjectUnderactuated Controlen_US
dc.subjectEnergy Based Controlen_US
dc.subjectSimulationen_US
dc.titleEnergy Based Control System Designs for Underactuated Robot Fish Propulsionen_US
dc.typeThesis
plymouth.versionEdited versionen_US
dc.identifier.doihttp://dx.doi.org/10.24382/3407


Files in this item

Thumbnail
Thumbnail

This item appears in the following Collection(s)

Show simple item record


All items in PEARL are protected by copyright law.
Author manuscripts deposited to comply with open access mandates are made available in accordance with publisher policies. Please cite only the published version using the details provided on the item record or document. In the absence of an open licence (e.g. Creative Commons), permissions for further reuse of content should be sought from the publisher or author.
Theme by 
Atmire NV