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Title: Gait generation and sliding mode control design for anguilliform biomimetic robotic fish
Authors: Xu, J.-X. 
Niu, X.-L.
Issue Date: 2011
Citation: Xu, J.-X.,Niu, X.-L. (2011). Gait generation and sliding mode control design for anguilliform biomimetic robotic fish. IECON Proceedings (Industrial Electronics Conference) : 3947-3952. ScholarBank@NUS Repository.
Abstract: In this paper 1, different locomotion patterns design and measures to resist parameter uncertainties are presented for a biomimetic robotic fish. The Anguilliform robotic fish consists of N links and N 1 joints, and its dynamic model is given in previous work [1]. Using this model, three major gaits of Anguilliform fishforward moving, backward moving and turningare investigated. We find that by giving different reference angles of joints, such as adding reversed phase difference, or adding deflections to the original reference angles, the fish exhibits different locomotion patterns. Furthermore, we adopt sliding mode control (SMC) to attenuate the impact from parameter uncertainties. Results of numerical examples validate the effectiveness of SMC. Comparison of those results shows that SMC works better than traditional computed torque control when performing the tracking task in joint space. © 2011 IEEE.
Source Title: IECON Proceedings (Industrial Electronics Conference)
ISBN: 9781612849720
DOI: 10.1109/IECON.2011.6119954
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