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1、3176IEEETRANSACTIONSONINDUSTRIALELECTRONICS,VOL.59,NO.8,AUGUST2012NovelMethodfortheModelingandControlInvestigationofEfficientSwimmingforRoboticFishLiWen,TianmiaoWang,GuanhaoWu,JianhongLiang,andChaoleiWangAbstractInthispaper,analyticaltechniquesandfuzz
2、ylogictimalswimmingpatternforroboticfishneedstobeseriouslymethodareappliedtothedynamicmodelingandefficientswim-considered.Man-maderoboticswimmershaveinherentchar-mingcontrolofaroboticfish.Thebioinspiredroboticfish,whichacteristicssuchasskinfrictionandbod
3、yflexibilityandformfollowsanexactreplicaofalivemackerel(Scomberscombrus),whichobviouslyvaryfromthoseofliveswimmingfish[3].ismodeledbytreatingtheundulatingbodyandflappingtailindependentlyusinganalyticalmethods.ComparingtheresultsofTherefore,thesimpleappl
4、icationofthebiologicalobservedsimulationsandexperimentsshowsthefeasibilityofthedynamicdatatothecontrolofroboticfishwouldleadtoanimperfectmodel.Usingthismodel,wefoundthattheharmoniccontrolofresultofthethrustperformance[4],[6].ThecurrentresearchtheStrou
5、halnumberandcaudalfinangleofattackisaprincipalpresentedhereaimstoinvestigatehowbiomimeticroboticfishmechanismthroughwhichtheroboticfishcanobtainhighthrustcanswimefficientlyinwater.Theroboticfishwhichwechoseefficiencywhileswimming.Thefuzzycontrolmethod,whic
6、hisbasedontheknowledgeoftheroboticfishsdynamicbehavior,hastoinvestigateinthispaperbelongstothegroupexhibitingthesuccessfullyutilizedthisprincipalmechanism.Bycomparingthebodyand/orcaudalfinmovementpattern[7].Existingpriorthrustperformanceoftheroboticfish
7、withdifferentcontrolmeth-researchrelevanttothematerialspresentedhere,andcurrentodsviasimulation,weestablishedthatthefuzzycontrollerwascontributions,canbebroadlyclassifiedintotwocategories:abletoachievefasteraccelerationandsmallersteady-stateerrordynam
8、icmodelingofandcontrolmethodsforroboticfish.thanwhatcouldbeachievedfromanopen-loopandconventionalproportionalintegral-derivativecontroller.ThethrustefficiencyduringsteadystatewassuperiortothatwithconventionalcontrolA.DynamicModelingmethods.Wealsofoundt
