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Nonlinear equations of motion for fish-robot have been derived based on three basic motion behaviors, swimming, orientating, and driving. By incorporating the fish-tail mechanism, 2-DOF barycenter mechanism, and autonomous underwater vehicle-like dynamics model, the fish robot motion and maneuverability are considered in north-east-down frame. A sliding mode controller for swimming, orientating, and...
This paper develops a path planning simulation method in AGI software platform for multirotor UAVs in a 3D environment with avoiding the obstacles is presented. A multi-RRT (rapidly exploring random tree, RRT) algorithm is applied to compute the preliminary flight paths.
Nonlinear equations of motion for fish-robot have been derived based on two basic behaviors, swimming and orientating. By incorporating the fish-tail mechanism and autonomous underwater vehicle-like dynamics model, the fish robot motion and maneuverability are developed in earth-fixed frame motion. A nonlinear H∞ robust controller for swimming, orientating, and tracking control of the fish robot is...
Two-DOF barycenter mechanism and its control are proposed. The mechanism by means of the moved balancing masses along two axes changes the center of gravity of fish's body. The projected torques on x and y axes propel pitch and roll angles to the desired values. Merging the pitching and rolling models with fish-tail and rigid-body models, the fish robot motion and maneuverability can be achieved in...
Derivation of the mathematical model for a robot fish considering forward motion and yaw angle kinematics is presented. This model also includes details of the hydrodynamic force by considering the condition of fish swimming underwater. The nonlinear dynamical model in Carangi form locomotion type is derived by use of Lagrange's equation, which concerning about 4 links of fish robot equivalent model...
This paper studied the point stabilization problem for a constrained autonomous lawnmower. A constrained kinetic model is established first. The authors proposed a backstepping adaptive controller to solve the stabilizing control design problem. The proposed approach has been numerically verified.
This paper develops an optimal path planning scheme for autonomous lawnmowers, including the minimum working time, the minimum energy consumption mode and the mixed operation mode. A global positioning system (GPS) is equipped with the mowing path planning system which provides real-time position of the lawnmower. An algorithm for multitask operation is also presented.
This paper considers the optimal control problem for a wheeled car (robot) subject to inequality constraints which are induced by hardware. Before solving the optimal control problem, we propose an equality constraint to substitute the inequality constraints with a new technique, which is developed to design an optimal controller for tracking while characterizing the reasonable input torque. It is...
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