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dc.contributor.authorRoper, Den
dc.contributor.authorSharma, Sen
dc.contributor.authorSutton, Ren
dc.contributor.authorCulverhouse, Pen
dc.date.accessioned2017-02-15T16:24:10Z
dc.date.available2017-02-15T16:24:10Z
dc.date.issued2013-03-01en
dc.identifier.issn1756-0543en
dc.identifier.urihttp://hdl.handle.net/10026.1/8478
dc.description.abstract

This paper discusses oscillation and directional control for a body and caudal fin type robotic fish. The robotic fish is modelled as a free-floating kinematic chain, and two possible control solutions are proposed based on deadbeat and feedback principles. Results demonstrate that the choice of controller has a significant effect on the resultant system dynamics and performance. While the deadbeat approach delivers excellent signal tracking with relatively little computational cost, H∞ feedback results in a significantly lower total power cost, at the expense of a larger rise time and threefold increase in computational complexity. The findings suggest that for the stated application, the performance characteristics of the H∞ strategy were superior.

en
dc.format.extent67 - 75en
dc.language.isoenen
dc.titleOscillation and direction control strategies for a robotic fishen
dc.typeJournal Article
plymouth.issue2en
plymouth.volume31en
plymouth.publication-statusPublisheden
plymouth.journalUnderwater Technologyen
dc.identifier.doi10.3723/ut.31.067en
plymouth.organisational-group/Plymouth
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering
plymouth.organisational-group/Plymouth/Faculty of Science and Engineering/School of Engineering, Computing and Mathematics
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA
plymouth.organisational-group/Plymouth/REF 2021 Researchers by UoA/UoA12 Engineering
plymouth.organisational-group/Plymouth/Research Groups
plymouth.organisational-group/Plymouth/Research Groups/Marine Institute
plymouth.organisational-group/Plymouth/Users by role
plymouth.organisational-group/Plymouth/Users by role/Academics
dc.identifier.eissn1756-0551en
dc.rights.embargoperiodNot knownen
rioxxterms.versionofrecord10.3723/ut.31.067en
rioxxterms.licenseref.urihttp://www.rioxx.net/licenses/all-rights-reserveden
rioxxterms.typeJournal Article/Reviewen


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