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Lookup NU author(s): Dr Khalid Abidi
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In this paper, we implement a novel discrete-time Terminal Sliding Mode Control (TSMC) for real-time precise speed control of a two-link Carangiform robotic fish. First, using Newton's laws of motion, combined with Lighthill's slender body theory, we develop a dynamical model to analyse the robotic fish motion. The model attained is highly non-linear and non-affine in control input which is why many control techniques may not be suitable for application. Moreover, exact model parameter values might not be available. Hence, we propose a discrete-time Terminal Sliding Mode Control technique which can handle most of the unprecedented factors in modelling while controlling the speed of the robot. Additionally, a disturbance observer is implemented to learn the low frequency un-modelled variations in the system. The developed control algorithm is examined in both simulations and experiments to illustrate its effective speed tracking performance of the robotic fish.
Author(s): Verma S, Abidi K, Xu JX
Publication type: Conference Proceedings (inc. Abstract)
Publication status: Published
Conference Name: 2016 14th International Workshop on Variable Structure Systems (VSS)
Year of Conference: 2016
Online publication date: 11/07/2016
Acceptance date: 02/04/2016
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