Data-Driven Dynamic Modeling for a Swimming Robotic Fish

This paper proposes a data-driven dynamic modeling method for multijoint robotic fish with irregular geometric profiles and numerous heterogeneous hydrodynamic parameters. The method is composed of two main components: dynamic modeling and hydrodynamic parameter identification. In dynamic modeling,...

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Bibliographic Details
Published in:IEEE transactions on industrial electronics (1982) 2016-09, Vol.63 (9), p.5632-5640
Main Authors: Yu, Junzhi, Yuan, Jun, Wu, Zhengxing, Tan, Min
Format: Article
Language:English
Subjects:
Computational fluid dynamics
Dynamics
Economic models
Fish
Hydrodynamic analysis
Hydrodynamics
Mathematical model
Mathematical models
modeling and control
Modelling
Numerical models
Parameter identification
Robot kinematics
robotic fish
Robotics
Swimming
Vehicle dynamics
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Summary:This paper proposes a data-driven dynamic modeling method for multijoint robotic fish with irregular geometric profiles and numerous heterogeneous hydrodynamic parameters. The method is composed of two main components: dynamic modeling and hydrodynamic parameter identification. In dynamic modeling, fluid forces exerted on the robotic fish are analyzed by the Morrison equation and the strip method. A dynamic model with an explicit formulation is derived, in which all terms involved in the dynamic analysis are converted to the coordinate system attached to the head. Further, the parameter identification technique is integrated into dynamic modeling, which reshapes it with data-driven feature and thereby makes it be competent to model swimming robots with complex geometric profiles and numerous heterogeneous hydrodynamic parameters. Experimental data of the swimming robotic fish are collected to identify the parameters directly. The obtained dynamic model is validated by data captured under extensive motion modes like forward swimming, varying velocity, and turning. Comparisons of simulated and experimental results demonstrate the effectiveness of the method.
ISSN:0278-0046
1557-9948
DOI:10.1109/TIE.2016.2564338