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H∞ Controller Design of an Ostraciiform Swimming Fish Robot

Taesam Kang

Abstract


In this paper, proposed is a design of a robust controller for a fish robot. A simple second order model is used to develop the feedback controller. With proper weighting functions augmented for loop shaping, a robust controller is obtained using H-infinity control methodology. Frequency analysis shows that the proposed controller is very robust, having gain margin and phase margin 11.6dB at 11.1rad/sec and 60.7deg at 0.271rad/se, respectively. The stability robustness and performance analysis is done using step input and  uncertainties of time delay, damping, natural mode. The step disturbance and measurement noises are also considered. The simulation results shows that the proposed controller keeps the stability and performance even though there are a little degradation of them as uncertainties increase. Thus it is expected that the proposed controller can be used effectively in real environment with model uncertainties and disturbances.

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References


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DOI: http://dx.doi.org/10.21535%2FProICIUS.2009.v5.568

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