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Document Type : Latin Dissertation
Language of Document : English
Record Number : 152075
Doc. No : ET23867
Main Entry : -4ditya Simha
Title Proper : PECTORAL FlK CONTROL OF -4 BIOROBOTIC .4UV IN THE DIVE PLANE_RU`QHbaYdHPJUL(egfUOQhNiPMjOQHbaYgk+LN`l[nmo[jLpOlfqr[jHPOs[ ctRU`Wur`l`QTVL_fHCY7HKJULvijLNw
Note : This document is digital این مدرک بصورت الکترونیکی می باشد
Abstract : Maneuvering of biologically inspired robotic undersea vehicles (B.4UVs) is con-sidered in the dive plane using pectoral-like oscillating fins. Firstly? an open-loopand opt.imal feedback cont(ro1 s ~ s t ~ e m is designed to control a biorobotic AUV in thedive plane. Next, a,n inverse control system for dive-plane control is derived basedon a discrete-time .AU\' model. An approximate minimum pha.se syst,em with a newoutput variable is derived for the purpose of design.Computational fluid dynamics (CFD) is used to parameterize the forces generatedby a mechanical oscillatory flapping foil, which attempts to mimic the pectoral finof a fish. Finally. a control system for the independent asymptotic control of thelateral and rotational motion of a 2-D hydrofoil based on the internal model principle(servomechanism theory) is derived.,.............-....,....-...,..tested for theQ1 PC1 bus cardBoth these projects mere sofixare des elopment efforts tonards contributing to dlfferentaspects of Roboucs and lZ1echatronics projects m the Controls and Roboucs Group..
Subject : Electericl tess
: برق
electronic file name : TL47128.pdf
Title and statement of responsibility and : PECTORAL FlK CONTROL OF -4 BIOROBOTIC .4UV IN THE DIVE PLANE_RU`QHbaYdHPJUL(egfUOQhNiPMjOQHbaYgk+LN`l[nmo[jLpOlfqr[jHPOs[ ctRU`Wur`l`QTVL_fHCY7HKJULvijLNw [Thesis]
 
 
 
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