A flexible, reaction wheel driven fish robot: Flow sensing and flow relative control
This paper studies flow sensing and flow relative control for a flexible fish robot actuated by an internal reaction wheel. Two flow models are presented including a quasi steady potential flow model and an unsteady vortex shedding model. A recursive Bayesian filter is adopted to assimilate distributed pressure measurements and a bending curvature measurement for flow field estimation. The dynamic model of the reaction wheel driven fish robot is derived. A flow relative control strategy for tracking swimming speed and turning rate consists of a feedforward controller designed based on the inverse steady state turning model and a feedback controller that utilizes estimated flow information and an angular velocity measurement. Simulation results are presented to demonstrate the control design.
2016 American Control Conference (ACC)