There are many types of systems in both nature and technology that exhibit limit cycles under periodic forcing. Sometimes, especially in swimming robots, such forcing is used to propel a body forward in a plane. Due to the complexity in studying a fluid system it is often useful to investigate the dynamics of an analogous land model. Such analysis can then be useful in gaining insight about and controlling the original fluid system. In this paper we investigate the behavior of the Chaplygin sleigh under the effect of viscous dissipation and sinusoidal forcing. This is shown to behave in a similar manner as certain robotic fish models. We then apply limit cycle analysis techniques to predict the behavior and control the net translational velocity of the sleigh in a horizontal plane.
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ASME 2017 Dynamic Systems and Control Conference
October 11–13, 2017
Tysons, Virginia, USA
Conference Sponsors:
- Dynamic Systems and Control Division
ISBN:
978-0-7918-5828-8
PROCEEDINGS PAPER
Limit Cycle Analysis and Control of the Dissipative Chaplygin Sleigh
Vitaliy Fedonyuk,
Vitaliy Fedonyuk
Clemson University, Clemson, SC
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Phanindra Tallapragada,
Phanindra Tallapragada
Clemson University, Clemson, SC
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Yongqiang Wang
Yongqiang Wang
Clemson University, Clemson, SC
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Vitaliy Fedonyuk
Clemson University, Clemson, SC
Phanindra Tallapragada
Clemson University, Clemson, SC
Yongqiang Wang
Clemson University, Clemson, SC
Paper No:
DSCC2017-5193, V002T21A004; 7 pages
Published Online:
November 14, 2017
Citation
Fedonyuk, V, Tallapragada, P, & Wang, Y. "Limit Cycle Analysis and Control of the Dissipative Chaplygin Sleigh." Proceedings of the ASME 2017 Dynamic Systems and Control Conference. Volume 2: Mechatronics; Estimation and Identification; Uncertain Systems and Robustness; Path Planning and Motion Control; Tracking Control Systems; Multi-Agent and Networked Systems; Manufacturing; Intelligent Transportation and Vehicles; Sensors and Actuators; Diagnostics and Detection; Unmanned, Ground and Surface Robotics; Motion and Vibration Control Applications. Tysons, Virginia, USA. October 11–13, 2017. V002T21A004. ASME. https://doi.org/10.1115/DSCC2017-5193
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