Trajectory Stabilization for a Planar Carangiform Robot Fish

Abstract: This paper considers the task of trajectory stabilization for a fish-like robot by means of feedback. We use oscillatory control inputs and apply correction signals at the endpoints of each periodic input signal. Such a strategy can be proven to cause the system to converge to a desired trajectory. We present a specific model of a planar carangiform fish, and verify the stabilization results with simulations and with experiment on a planar robotic fish system that is propelled using carangiform-like movements.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Kristi A. Morgansen, Patricio A. Vela, Joel W. Burdick
• Keywords: ICRA 2002, Oscillatory Control Inputs, Periodic Input Signal, Robotics, Trajectory Stabilization