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This paper proposes a sliding mode observer (SMO)-based heading control method for the gliding motion of a dolphin-like gliding robot. A pair of flippers are employed to regulate gliding direction via differential actions, rather than actuators commonly used in traditional underwater gliders. The framework of the control algorithm is established based on a derived dynamic model, including an SMO,...
This paper provides a detailed hydrodynamic analysis of the gliding motion for a gliding robotic dolphin. In order to realize both high maneuverability and long endurance, a novel gliding robotic dolphin is developed through introducing a buoyancy-driven system for the gliding motion. Concerning the particular controllable pectoral fins and horizontal fluke of the robotic dolphin which are significantly...
This paper provides an innovative design for a gliding robotic dolphin. In order to realize high maneuverability and long endurance, the robotic dolphin combines the advantages of both robotic dolphins and underwater gliders. It can not only realize fast and flexible dolphin-like swimming depending on the powerful propulsive posterior body and fluke, but also implement gently and durable gliding motion...
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