SIC E -ICA SE khnaotinalJointC onfence 2006

O ct. 18-21, 2006 in B exo, Busan, K oiea

D ynam rsof a F ih-L ke R obotand It's C ontrol D esgn
n A uiyant , T aesam K ang2 , Y oung Jae L ee
D epaxtn entof M echanicaland A ermsace Enginee2ing, K onkuk U nivemity, Seoul, SouUh K onea
(Tel: + 82 -2 -457 -3544; E -m ail: genirin@ yahoo com )
2 D epaxtn entofM echanicaland A ermsace Enginee2ing, K onkuk U nivemitiy, Seoul, SouUh K onea
Tel: + 82 -2 -450 -3544; E -m ail: tkang@ konkuk ac kr)
3 D epaxtn entof M echanicaland A ermsace Enginee6ng, K onkuk U nivemity, Seoul, SouUh K onea
(Tel: + 82 -2 -450 -3358; E -m ail: younglee@ konkuk ac kr)
A bstract: A fish-lke iobotboathas been buiWtt sim ulat fish sw m m ing dynam ics. This iobotboatuses oscil1atng
plat sw 1mm ing m ode as it uses only single oscil1athg tail fin. Seveial expernm ents has been carded out t piovide
suficient dat t be pincessed fr the identifrHotin pncess. The expe2nm ent dat arLe collectE by using an Inertial
M easun ent U nit (1M U ) w hich consists of t-mee gymnscopes and t-ne accelem etal. A m athem atical m odel, a
tUanseHr fLmcbDn betw een the sw imm ing diLcton and the fin's m ean angle of oscilaton, is obtained frm the dat
and identifrAdtion algorithm . The identU5e m odelappiox1m ats the eal sysEm quie w ell. This m odelhas been used t
design PID dicdonalcontlerfDr the fish-lMke iobot.

K eyw ords: fish-]jke iobot, fish-]ke boa, m odelidaen-5fic.an, dieLcnaltUansrfLmcon, P]D conbm]lerdesign.

1. I[NTRO DUCT ION

D evebping undenw atr obots can be a big advantage
in ihe fields of ocean devebpm ent, ocean investigation,
and m arne enviionm ental pmt-cdon. To pivide high
efcicincy and pipulsive perfrn ance, fish-like
pernxn ance is entida1y squhi-d in devebping
undenw ater ibots. H ence, the fish-ljke iobot is a useful
and intmesLtng one t devebp [2 ].

A fish-ljke boat has been built t study fish

sw m m ing dynam ics, parcularly oscilOathg plat Fig. 1 Pictim of the fish-ljke boat.
sw m m ing m ode w ih single tail fin. This fish-ljke boat
is equpped w ith an ]M U (Inerbal M eaan ent U nit) Table 1 M an infrn atdn of ihe fish-lke boat.
snscr which cxnsists of ime acceleom els and ime
gyioscmopes. U sing fhe ]M U, dat w ee co ectedl Umugh Totallrigth (an) 35.0
aeverml expenim ents of the fish-lke boat, then the dat Totlw idth (acn) 14.5
w eme piocese in m odelidentifrAdton piceduie. Totalheight (anm) 19.0
Totalmass (gr) 421
M odel identifiradnn picedume of the fish-like boat Servo H iec H S=55
has priduced am aihem aticalm odel (a tUan LrTmcUDn) M iicontboller A tin el128
w hich mlatEs sw 1mm ing dimection as ihe outputvaniable
Pow ersupp]y Thme 9V battpBies
and the m ean of ihe fin oscil1aton angle as fhe input.
IM U snsor M icosbain Inc.
The tUanir mncton has a]sc been shown t des=be
D at connecin B luetDoth
the eal systm quie w ell.

By using the tLanar mnctbn, we have designed a
conto]ler t 1m piove the fish-like boat's t=ing
prfrn ance. The contDl desi3n uses P D design t
m eet secifc r mqum ents. It is asc designed t
suppess extlnaldistinbances.
2.THE FISH -LIKE BOAT
The fish-lke boatused t sim ulat sw m m ing fish has
only one oscil1athg (tail) fn. The shape of the fin is
flexible pike-tpe fin which, theorecticay, gives good
p efm ance at bw fiauency oscilatiDon [2,4 ]. Fig. 1
show s ihe picbuie of the boatand Table 1 sm e detailof
the fiah-lke boat.
The pipulsion of a sw mm ing fish is geneiatEd by
vorExes aiound it's tail fin which aie ceatEd by fin
oscil1atin. The equatDn of til fin m otDn is given by
Eq. (1) [1],
0(t) 0=a+00 cos( 27T t) . (1)
wherm 0 (t) is the angle between ihe tail and ihe
]ongAuLdiual axis of the vehicle, Oa is the m ean of 0
dunng one period in ean angle of osciaaton) and f is
the oscil1atin frequency. B aed on observatdn of fish
sw 1m m ing kinem atics, Leasnable estim aton of ihe
amplitude (00) is about 150 [1]. Valying Oa prDvides
contil of sw m m ing di½cdn w hi1e changing f riesuts
sw m m ing seed changes.

89-950038-5-5 98560/06/$10 C 2006 ICASE

4297
 in this LesaIch, we ae intmestd t obserze fish
sw im m ing diecton in telatdon wAih inputO w here the
oscilatdon fiuruency is fixed at 8 rad/s. This
obserzvatiDn is useful t analyze t=mng perffn ance of
a sim ilar fish-like inbot V anables mpesentng fhe
sw im m ing di2EcbDn aie path angle, qfp, and path angle
iat, co-p (see F ig 2) .
, th
jidill ..
*
0)
path angle atE frm yaw angle data.
31 Identificatin Procedure
F nm avezal theonetcal Leview s and step input (stp
Va) mteonse observatiDns, we have bund out useful
infrn atiWn garding Uhe fish-]je boat t=ing
dynam ics [3]. Fuist one is Uhat the dilecdonal tUanFr
hmcthnn is the m ost ]-ely t be in second order systm
fDn . Second, the vale of Oa w hich m akes zeio stady
V Leile -st ming 2at Op = 0) is about 6 .8 deg. H ence, w e
have set this angle as reknce of the m icontboler
code (instad ofOa = 0 deg).
:i

The m ain identifir.adn expenim ent has been done

4
and the esult (input-output data) is show n Fiig. 4. N ot
that in the all fish-lke boat expe2im ents, the fin
fiA-JibX 66itt oscil1aton frt1uency is 8 rad/s.
Fig. 2 The sw im m ing fish-lke boatillusbatin. ut sigi

By doing systm identuiflatin prceduie, we can

obtami a m athem atical m odel betw een path angle LatE
(output) and m ean angle of oscillatin (input).
4!
3.SYSTEM MODEL IDENTIFICATION
The goal of the m odel idend5fration piocediu-e is t
obtain a m aihem atdcal m odel fiat m airhes quie w ell
w ithe actial expenim ent data. For this fih-ljke boat
pr4ect, it is a tUansr Thncdon elatng m ean angle of
oscil1aton (input) and path angle atE (output) W e call .

it the diecdnaltran r Tnctdn.

Fig. 4 The input-outputpbt.
Practrally, it is dif5cult tfhe actual pafh
m easwie
and path angle iatE. H ow ever, w e can still appioxim at To be picessed in the m odel idendfradOn iItaadcn, fhe
them from yaw angle data by applying a bw pass fiElr data (input output data) should be pie-picessed fist
syst In fis emseach, t obtiin the pafh angle iatE
For this case, it is done by mm oving m eanorffset of the
.

Op) frm yaw data, he filr shown in Fig. 3 is data.

empbyed. Not flat this fillEr is t fillr out fhe
oscillaton freuency component of 8 rad/s from the
angle LatE of the fish-]ke boat.
Next stEp of systEm identfrcadnn piocedulie ism odel
itIrdton. This itRItiOn involves of com putng som e
A RX m odels and analyzing theirquaily in tEn of esr
t signalatiD [6]. By this iJIrtin, w e can getthe m ost
siiIcble odel ith the best quaEly Cbw est ernr t
m w

signal 2ato). This tsk is easily done using SystE

Identif atican Toolbox of M atLab [7].

3 2 Identifeation result and analysis

A frdoing te i3tron and sm e tbal and eirr, we
have obtined the fDlbTw ing m odelas in Eq. (2).
Wp(Z) 0.02083z-0.01041 2

u(z) z2 -1 982 z+ 0 9825

N otE fat the sam pling tin e is 0.02 sec and the
ecLulalentcontnuous fDn is given as

COp(S) 0.7874s+26 28

u(s) s2+O.8836s+2A75
In Eq. (2) and Eq. (3), the iput u (t) is sin (O (t)) The .

Fig. 3 The fill rdiagam used t obain path angle and eor t signal oatiD defined asin Eq. (4) is aboutlO %

4298
w hich m eans itis acceptble t be ourm odel.
2
WVp model 0 Wpdata
erir/si#gal (% ) = 2
-xlOO . (4)
cV p dat

Fig. 5 show s the pbt of the m odel com paid tD the

data.
Ir

Fig. 7 Tw o-diees-of feedom contlsystm .

In Fig. 7, Y (s) is the contb]ler output, in this case,

path angle iat. R (s) is refrbce input (desird path
4~
angle atE) and D (s) is an exta1disWuance 0 (s) alsm
can be considemI asplant/systm uncertinty) ]tcan be .

shown fiat:
Y(s) G pG sG cl
-6 Ero to signal ratio ' 06 5)
R(s) 1+GpGSGCGse
0 15 20 4
5 10 25 35 45 Y(s) Gp(6)
D (s) GSGCGse
1+G
Fig. 5 The m odelcompaed tD the data
wherm Gc= (Gcl+GG2) n deiJing Eq. (5), we set
Stp inputweoonse of the tLansrTnctiDn (Eq. (3)) is D (s)= 0,andindei±zingEq. (6)wesetR(s)= 0.
shown inFig. 6.
The goals of she contbl design (design
Ste rpspnsFoolthe directionl tnsr functon uEqui-mm ents):
1. the overshoot is in she Lange 5-10% and the the
Overshoot (%! 391S
(, Al timeC (so) 2 setling tin e should be less an 1 5 seands (at2%
...... * -1

O
* ,TiM;e NaOC) 81.4
2. itsuppiess extanalstp disddubance D (s).
3. as an addiional uquiam ent, it is desid tD m ake
(U the systm having zerr stady-st eirms in
eqponses t stEp, =am p and acceleation input.
I5
IZ
m
I

Ram p eonse Lquirm ent in point diiee is quiE

a- importnt, because it is indimecly ecuavalent w ilh
cont]llTng path angle. W ill c]eary se this atter
e w m

latrin the sim ulaton msulL.

Fig. 6 Stp mponse of the di2ecdnalt1an rfnctdn. 4.1 Zero-placem entm ethod
W e use zem placem ent m ethod t corm put G cl and
W e can se in Fig. 6 that both ovemshoot and stlehng G c2 [5] Forthe fish-lke boat,
.

tdm e of she dimctbnal tUanar fhnccon aie elatdvely 0 .7874s+26 28

G (s) = (7)
bng. In efct. tni-ng m otiDn of the fish-]ike boatis not P
8)
s2+0B2836s+2.475
well perfrned. This means we need contller t
im piove the eqponse caiactic of she path angle
and w e have asam ed thatshe servo and sensoraie fst
lat. enough so thatw e can m odelitas constant.
G (s) G s (s) 1. (8)
4.CONTROLLER DESIGN
In this scdbn, (Piopordonal Inagal a PID Forthe fiststEp, we w iit G in Eq. (5) and Eq. (6)
D evatve) contb]ler designed fr the fish-lke boat in in geneal P1D bin as shown in Eq. (9).
order t adhieve w ell tuming m oton w il be des=±ed K ( 2 + (a +g) s+ ac(
and analyzed. in this contlller design,
tw o-degmes-of-freedom PID contbldesign is used (se s 0.7874s+ 26 28
Fig. 7) [5 ]. Thus,Eq. (6) becomesEq. (10).

4299
Y (s) 0.7874s2 + 26.28s 4 2 R eslts and sin ulatiDn
(10) W e finally have she com plet PD contollexdiag=am
D (s) [s3 +(0.8836 + K ) )2
as shown in Fig. 8. By using Simrulink , the contol
diag=am has been testd. Fig. 9 show s the stp eqonse
-+ ( 2.475 + K (ax + ,l)) s+ K a,6- of the controlecr.
Then, we select s = -a + t tD be the dominant
cbsed-bop poles and she mm aining pole is s = - c. Sep rsppns d the oWoller
H ence, the cbsed ]Dop denom miatrw illbe: 141
Peak ampiiude 1.05
s3+ (0.8836+ K ) s2
'At tin* (seq): 0369 Settli aT se 1 39
(2 475+ K (a +,8)) s+ Ka,8J
(11)
=(s+a+ t)(s+a- t)(s+c)
= s3 +(2a+ c) s2 +(a2+b2+ 2ac) s+(a2 +b2)c. 06L
C 1
Since the denom inatrofY (s)p (s) and Y (s), (s) are she
same, hose seectBd poles will also detEn ne the
Leqpons cdaactEidc brthe refence input. 0-
j~
0,5 1 1,5 2 15. 3 35
Tira ISk]
To m eetalldesign goals defined above, especialy the
ii1d quimm ent, we have t set the cbsed-bDop
transrnctiDn Y (s), (s) as Eqs. (12).
Fig. 9 Sip eponse of fhe contLl1rrdesign.
Y (s) (2a+c)s2 (a2 +b2 +2ac) s+(a2 +b2)c (12) From Fig. 9, we can see ht the step eonse of the
cont]ler has overshoot 527% ]ess amn 10% ) and
R(s) s3+(2a+ c) s2 (a2+b2+ 2ac) s+(a2 +b2)c setling din e aboutl 39 seands ]ess amn 1 5 seands) .
H ence, now the next tsk is t seach a setof a, b and c Thism eans she contbolerdesign hasm eetourfistgoal.
vales w hih m eet the design goals. This seach can be
eas-iydone by using M atLab . The vahies a = 0.6, b = Nex, Fig. 10 shows the esponse of she cont]ler
0 2 and c = 16.6 have been bund t achieve the goals. w hen exinal stp disbuance, D (s), sts infilencing
Thus,byEq. (11),K = 1692, x+fl) = 1.055,a, = 0392, the systEm fom tin e 1 5 seands.
and Eq. (12) becom es Eq. (13).
CoMmr er rsponse to sp diMmrane
Y(s) 17Bs2 + 2032s+ 6.64
D3)
R (s) s3 + 17.8s2 + 20 32s+ 6.64 4

N ext, w e can com put G cl and G ,2. By swbstLithg K Y

= 1286, cx+fl) = 1125, and a,B = 0395, Eq. (9)

becom es Eq. (14).

Ge(s) 215Ss +22.67s+8.424 (14) 11

s ~ s+ 33 38~
ref iphut -4 dedts. nro JstubFcLe
By combining Eqs. (5), (13) and (14), we getGcl and rf ipdt 4 de K. D(s) = 0 4 st forn 1 5 s
4 6 8 10 1
G c1as shown in Eqs. (15) and (16). Tcime [sec]
22.6s2 + 25 Bls+ 8.433 1
(15) Fig. 10 Reqponse of the conti]lerdesign t the step
l(s) =5s ts+3338) disb.nbance.
G c2()3-11s2 _3.14s- 0.01( 1 )
(16) Ifhs sen from Fig. 10 fhatUie stp disbffbance effctLis
suppiese quai well by this contiD]ler. H ence, the
Fig. 8 show s the com plet contioldesign.
design als fuills the seand design goal.
D(s The ]ast tsL is observaton she conti]ler mponse of
the = p input meponse (amp path angle iatE). As
s+33 38 + G statd befie that =m p input eqponse of the conti]ler
G TJ fish-like boba is mdimecly ecuvalentw ilh the eqponse of path angle.
Ramp input eqponses wilh zer sbady-st eirms
PE Gc2
caue she path angle output bT1w s a given cicular (or
arc) path well and quickly when a stp refence pash
angle atE is nputted. Hence, the fish-ljke boat will
peifnm w elltning atthe ciular (orarc) path. F g. 11
Fig. 8 The com plet contioldesign. show s she path angle atE eponse w hen 3m p input 4t

4300
deg/s is applied and Fig. 12 show s the eponse of path model w iih better (and better) quahty. A ]sc, the
angle when referce input 6path angle atE) 4 deg/s contoller design in Uifis w o± is sbll basic and
(strp) is applied. Both sinulatiDn aie done with zer pmeim inay design fhat needs t be 3m proved using
disbi-bance. anothercontlm ethod (Iobustcontbl, adaptive contl,
etr) . Finally, implem entatiDn of the COnt]ler design
C tntroller ramp input re.pouse w ill be the u]iinatE futrie w oi of tis fish-lke Lobot
6 devebpm ent.

ACKNOW LEDGEM ENT

4-

This wo0 was supportd by the KorPea Resaih

FoundatiDn G ant KR F -2 004 -0055 - B 00047).

REFERENCES
[1] D. Tze=ans, E. Papadopoubs and G..
Time lss]
Trantafylbu, O n the D esgn of an AutDnom ous
Robot Fih," N atiDnal Technical UnivemiIy of
Athens, G Lece 2003.
Fig. 11 Ram p inputeqponse of the contzlo]1r. [2] http ://q w w aim 1Lgo .p/eng$kh ata/ih/ndex_e htun
Path ahclie isp df referbrie Nthijn:gle rath
1
[3] I. AiJyant, T. S. Kang and Y. J. Lee,"
TdantficaiDn of a Fish-lTe Robot U sing Inertial
Sensors," The IntamatiDonal C onfrice on
gS4 ExperimentalM edianics,KoPa, 2006.
[4] K. H iata," Devebpment of Experimental Fish
Robot' Ship R esach Insdltte, Tokyo, 2 000.
3-
[5] K. Ogat," M odemn Contol Engineering 4*1
m~~~~~i 2~~~~~~~~
. 1 EditiDn, PLntice H all1 N ew Jeiy, 2002.
[6] L. Ljng," Systm IdantficatiDn, Theory br U ser,
2nd Ed,,' Prntice H ala N ew e 1999.
[7] L . Ljng,g Systm Idantficaion Toolbox, For U e
W ih M ATLAB, The M athW ois Inc., 1997.
[8] M icsbtin, 3DM -G User M anual, Firnrwaa v.
Fig. 12 The path angle meonse ofconstant (step) path 13.00,"M ilsbainInc.,W iTiston,USA,2003.
angle LatE iefnce (4 deg/s). [9] P. H aiduc," CodeVision AVR User M anual v
124.0/' ]hDTechdSLR,2003.
It's een thatFig. 11 and Fig. 12 aLe exacdy the sam e.
TheLefLe, the design has asc m etthe Uid rlquimn ent.
The m oeim portnt ing is the contbol]r design can
m ake the fish-lke boat t tun w ell fDbTw ing
ciCular/,= path. In conclusion, the contoller design
has acieved alldefined goalsfieuiira ents.

5.CONCLUSION AND FUTURE W ORKS

To devebp a fih-lJke obot, we have pLgssed in
studying and sin ulatng fish sw im m ing dynam ics,
especia1y t=ing, using a fish-hke boat with single
osialatng fin. FiisLieseach and study has been fcused
on the fish-lke boat model idaendficatican t fnd the
diLecdnal tranqr Thncton as the goal. The
idaen5ticHAHn pr:ceduLe has Lesulted a m odel½nsfer
ThnctDn w ilh acceptble quaaiiy (enDr t signal atdo
about 10% ) . W e aLsc have designed the acntolerbased
on the transkr Thnctdn obtained t imprve tuming
perirn ance of the fih-lIke boat. The design em pbys
two-degies-of-freedom PD acntzDldesJqn.Thedesiqn
has a]sc been pLoved t m eetalldefined Liiq m ents.

The stsm model identifiatn mseaIch of the

fih-lIke boat is sbll going in oder t find another

4301