This Article Full Text (PDF) References Alert me when this article is cited Alert me if a correction is posted Services Email this article to a friend Similar articles in this journal Alert me to new issues of the journal Add to Saved Citations Download to citation manager Request Permissions Request Reprints Add to My Marked Citations Citing Articles Citing Articles via HighWire Citing Articles via Google Scholar Citing Articles via Scopus Google Scholar Articles by Saimek, S. Articles by Li, P. Y. Search for Related Content Social Bookmarking                   What's this?

Motion Planning and Control of a Swimming Machine

Department of Mechanical Engineering, University of Minnesota, 111 Church St. SE Minneapolis MN 55455, USA; Department of Mechanical Engineering, King Mongkut’s University Of Technology, Thonburi, Bangkok, Thailandsaroj{at}fibo.kmutt.ac.th

Perry Y. Li

Department of Mechanical Engineering, University of Minnesota, 111 Church St. SE Minneapolis MN 55455, USApli{at}me.umn.edu

We propose a practical maneuvering control strategy for an aquatic vehicle (AV) that uses an oscillating foil as a propulsor. The challenge of this problem lies in the need to consider the hydrodynamic interaction as well as the underactuated and non-minimum phase natures of the AV system. The control task is decomposed into the off-line step of motion planning and the on-line step of feedback tracking. Optimal control techniques are used to compute a repertoire of time-scalable and concatenable motion primitives. The complete motion plan is obtained by concatenating time-scaled copies of the primitives. The computed optimal motion plans are regulated by a controller that consists of a cascade of linear quadratic regulator, input–output feedback linearization and sliding mode control. Time-varying linear quadratic controllers can also be time-scaled and concatenated. Therefore, they can be computed beforehand. The proposed strategy has been experimentally validated for both constrained longitudinal only maneuvers and unconstrained longitudinal/lateral maneuvers.

Key Words: aquatic vehicles • oscillating foil • swimming machine • optimal control • time-scaling • hydrodynamics • motion planning • motion primitives • linear quadratic control

The International Journal of Robotics Research, Vol. 23, No. 1, 27-53 (2004)
DOI: 10.1177/0278364904038366


CiteULike    Connotea    Del.icio.us    Digg    Reddit    Technorati    What's this?

This article has been cited by other articles:

				Junzhi Yu, Lizhong Liu, and Min Tan Three-dimensional dynamic modelling of robotic fish: simulations and experiments Transactions of the Institute of Measurement and Control, August 1, 2008; 30(3-4): 239 - 258. [Abstract] [PDF]

				K. H. Low and A. Willy Biomimetic Motion Planning of an Undulating Robotic Fish Fin Journal of Vibration and Control, December 1, 2006; 12(12): 1337 - 1359. [Abstract] [PDF]