Gliding robotic fish, a new type of underwater robot, combines both strengths of underwater gliders and robotic fish, featuring long operation duration and high maneuverability. In this paper, we present both analytical and experimental results on a novel gliding motion, tail-enabled three-dimensional (3D) spiraling, which is well suited for sampling a water column. A dynamic model of a gliding robotic fish with a deflected tail is first established. The equations for the relative equilibria corresponding to steady-state spiraling are derived and then solved recursively using Newton's method. The region of convergence for Newton's method is examined numerically. We then establish the local asymptotic stability of the computed equilibria through Jacobian analysis and further numerically explore the basins of attraction. Experiments have been conducted on a fish-shaped miniature underwater glider with a deflected tail, where a gliding-induced 3D spiraling maneuver is confirmed. Furthermore, consistent with model predictions, experimental results have shown that the achievable turning radius of the spiraling can be as small as less than 0.4 m, demonstrating the high maneuverability.
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July 2014
Research-Article
Tail-Enabled Spiraling Maneuver for Gliding Robotic Fish
Feitian Zhang
,
Feitian Zhang
1
Smart Microsystems Lab,
Department of Electrical
and Computer Engineering,
e-mail: zhangzft@gmail.com
Department of Electrical
and Computer Engineering,
Michigan State University
,East Lansing, MI 48823
e-mail: zhangzft@gmail.com
1Corresponding author.
Search for other works by this author on:
Fumin Zhang
,
Fumin Zhang
School of Electrical and Computer Engineering,
e-mail: fumin@gatech.edu
Georgia Institute of Technology
,Atlanta, GA 30332
e-mail: fumin@gatech.edu
Search for other works by this author on:
Xiaobo Tan
Xiaobo Tan
Smart Microsystems Lab,
Department of Electrical
and Computer Engineering,
e-mail: xbtan@msu.edu
Department of Electrical
and Computer Engineering,
Michigan State University
,East Lansing, MI 48823
e-mail: xbtan@msu.edu
Search for other works by this author on:
Feitian Zhang
Smart Microsystems Lab,
Department of Electrical
and Computer Engineering,
e-mail: zhangzft@gmail.com
Department of Electrical
and Computer Engineering,
Michigan State University
,East Lansing, MI 48823
e-mail: zhangzft@gmail.com
Fumin Zhang
School of Electrical and Computer Engineering,
e-mail: fumin@gatech.edu
Georgia Institute of Technology
,Atlanta, GA 30332
e-mail: fumin@gatech.edu
Xiaobo Tan
Smart Microsystems Lab,
Department of Electrical
and Computer Engineering,
e-mail: xbtan@msu.edu
Department of Electrical
and Computer Engineering,
Michigan State University
,East Lansing, MI 48823
e-mail: xbtan@msu.edu
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received May 5, 2013; final manuscript received February 20, 2014; published online May 8, 2014. Assoc. Editor: Alexander Leonessa.
1Corresponding author.
J. Dyn. Sys., Meas., Control. Jul 2014, 136(4): 041028 (8 pages)
Published Online: May 8, 2014
Article history
Received:
May 5, 2013
Revision Received:
February 20, 2014
Citation
Zhang, F., Zhang, F., and Tan, X. (May 8, 2014). "Tail-Enabled Spiraling Maneuver for Gliding Robotic Fish." ASME. J. Dyn. Sys., Meas., Control. July 2014; 136(4): 041028. https://doi.org/10.1115/1.4026965
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