Published May 2002
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Trajectory stabilization for a planar carangiform robot fish
Abstract
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.
Additional Information
© 2002 IEEE. Date of Current Version: 07 August 2002. This work was supported in part by the National Science Foundation through an Engineering Research Center grant (NSF-9402726) and through NSF grant CMS-9502224.Attached Files
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Additional details
- Eprint ID
- 27615
- Resolver ID
- CaltechAUTHORS:20111103-122758437
- EEC-9402726
- NSF
- CMS-9502224
- NSF
- Created
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2011-11-04Created from EPrint's datestamp field
- Updated
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2021-11-09Created from EPrint's last_modified field