Zhang, Feitian (Michigan State University), Tan, Xiaobo (Michigan State University)

Gliding Robotic Fish and Its Tail-Enabled Yaw Motion Stabilization Using Sliding Mode Control

Scheduled for presentation during the Contributed session "Marine Vehicles" (MoCT3), Monday, October 21, 2013, 16:20−16:40, Tent A

6th Annual Dynamic Systems and Control Conference, October 21-23, 2020, Stanford University, Munger Center, Palo Alto, CA

This information is tentative and subject to change. Compiled on October 30, 2020

Abstract

Gliding robotic fish is a new type of underwater robots that combines the energy-efficiency of underwater gliders and the high maneuverability of robotic fish. The tail fin of a gliding robotic fish provides the robot more control authority, especially for the lateral motion, compared with traditional underwater gliders. In this paper, the design and development of a gliding robotic fish prototype is first presented, followed by its dynamic model. We then focus on the problem of tail-enabled yaw stabilization during gliding, where a sliding mode controller is proposed. Both simulation and experimental results are demonstrated to validate the effectiveness of the proposed controller.