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Simultaneous Stabilization of Pitch and Yaw of a Gliding Robotic Fish Using Sliding Mode Control

[+] Author Affiliations
Maria L. Castaño, Xiaobo Tan

Michigan State University, East Lansing, MI

Paper No. DSCC2015-9914, pp. V001T04A004; 10 pages
  • ASME 2015 Dynamic Systems and Control Conference
  • Volume 1: Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
  • Columbus, Ohio, USA, October 28–30, 2015
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5724-3
  • Copyright © 2015 by ASME


Oceanic sustainability has been a growing global concern due to the increase of potential threats to the integrity of aquatic ecosystems. As a result, more attention has been paid to the monitoring of such environments, leading to the need for autonomous aquatic robots that are capable of monitoring them in an efficient and accurate manner. A gliding robotic fish is a type of underwater robot that stems from combining the energy-efficient underwater glider with the highly maneuverable robotic fish. For accurate trajectory control and precise sensor measurement, stabilization of both pitch and yaw during gliding is of great importance. In this paper we propose a multi-input-multi-output sliding mode controller for simultaneous stabilization of pitch and yaw. In this design, the outputs of both actuators, tail angle and center of gravity, are determined by the errors in both pitch and yaw. The effectiveness of the proposed approach is demonstrated via simulation with comparison to several alternative designs, including a pair of sliding mode controllers dealing with yaw and pitch separately, and a PI controller.

Copyright © 2015 by ASME



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