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Limit Cycle Behavior and Model Reduction of an Oscillating Fish-Like Robot

[+] Author Affiliations
Beau Pollard, Vitaliy Fedonyuk, Phanindra Tallapragada

Clemson University, Clemson, SC

Paper No. DSCC2018-9016, pp. V001T04A006; 7 pages
  • ASME 2018 Dynamic Systems and Control Conference
  • Volume 1: Advances in Control Design Methods; Advances in Nonlinear Control; Advances in Robotics; Assistive and Rehabilitation Robotics; Automotive Dynamics and Emerging Powertrain Technologies; Automotive Systems; Bio Engineering Applications; Bio-Mechatronics and Physical Human Robot Interaction; Biomedical and Neural Systems; Biomedical and Neural Systems Modeling, Diagnostics, and Healthcare
  • Atlanta, Georgia, USA, September 30–October 3, 2018
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5189-0
  • Copyright © 2018 by ASME


The design and control of underwater robots has to contend with the coupled robot-hydrodynamic interactions. A key aspect of this coupled dynamics is the interaction of the robot with the fluid via the vorticity that is created by the robot’s motion. In this paper we develop a simplified and very low dimensional model of this interaction. This is done recognizing that the vortex shedding is a nonholonomic constraint. We apply the harmonic balance approach to analyze and compare the limit cycle in the dynamics of the fish-shaped body propelled by a periodic input with that of a Chaplygin sleigh, a well known nonholonomic system. The dynamics on the limit cycles lead to a very low dimensional model of the swimming of the fish-shaped body that could be very useful from the perspective of controlling a swimming robot.

Copyright © 2018 by ASME
Topics: Robots , Limit cycles



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