Fin Type Propulsive Devices with Varying Working Area of Vibrating Tail
Journal of Vibroengineering 2010
Jānis Vība, Vitālijs Beresņevičs, Semjons Cifanskis, Bruno Grasmanis, Vladimirs Jakuševičs, Māris Eiduks, Edgars Kovals, Maarja Kruusmaa

The object of the study is a fin type propulsive device of robotic fish moving inside water. The aim of the study is to find out optimal control law for variation of additional area of vibrating tail, which ensures maximal positive impulse of motive forces acting on tail. The problem has been solved using the maximum principle of Pontryagin. It is shown that optimal control action corresponds to the case of bound values of area limits. The proposed method makes it possible to increase effective surface area of the fin within motion cycles, when useful tractive force is formed. But within cycles, when fin motion is hindered by water resistance forces, effective surface area is decreased. Thanks to this energy losses are minimized, and operation of fin propulsive device becomes more effective. Examples on synthesis of real mechatronic systems are given.

robotic fish, fin, propulsive device, optimal control, vibrating tail

Vība, J., Beresņevičs, V., Cifanskis, S., Grasmanis, B., Jakuševics, V., Eiduks, M., Kovals, E., Kruusmaa, M. Fin Type Propulsive Devices with Varying Working Area of Vibrating Tail. Journal of Vibroengineering, 2010, Vol.12, No.3, pp.278-286. ISSN 1392-8716.

Publication language
English (en)
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