Swimming on limit cycles with nonholonomic constraints
Swimming on limit cycles with nonholonomic constraints
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在具有非完整约束的极限环上游泳
DOI：
10.1007/s11071-019-05141-z
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发表时间：
2019
影响因子：
5.6
通讯作者：
Tallapragada, Phanindra
中科院分区：
文献类型：
--
作者：
Pollard, Beau;Fedonyuk, Vitaliy;Tallapragada, Phanindra
仿生游泳机器人的控制和运动规划是一个复杂的流体-机器人相互作用问题，是一个高维(无限)的非线性系统。许多高维非线性系统，往往具有低维吸引子。从游泳机器人的角度来看，这种低维吸引子简化了游泳力学的分析，并被证明对控制器的设计有用。本文描述了一类由内反力轮运动驱动的机器人的游泳运动的低维模型。在低维吸引子上游泳的模型本身就是由最近关于耗散Chaplygin雪橇的工作所推动的，该雪橇是一个著名的非完整系统，表现出极限环动力学。证明了Chaplygin雪橇的控制方程是游泳机器人的一个非常有用的代理模型。Chaplygin雪橇模型用于通过计算演示机器人的某些动作。用这样的机器人进行的实验提供了极限环动力学的证据。基于离散点涡体相互作用的计算模型证实了这一行为。我们的工作还表明，游泳机器人的动力学与陆基非完整机器人的动力学在唯象和数学上有密切的相似之处，这可能会推动其他类鱼游泳机器人运动的极低维数学模型的发展。
The control and motion planning of bioinspired swimming robots is complicated by the fluid–robot interaction, which is governed by a very high (infinite)-dimensional nonlinear system. Many high-dimensional nonlinear systems, often have low-dimensional attractors. From the perspective of swimming robots, such low-dimensional attractors simplify the analysis of the mechanics of swimming and prove to be useful to design controllers. This paper describes such a low-dimensional model for the swimming of a class of robots that are propelled by the motion of an internal reaction wheel. The model of swimming on a low-dimensional attractor is itself motivated by recent work on the dissipative Chaplygin sleigh, a well-known nonholonomic system, that exhibits limit cycle dynamics. We show that the governing equations of the Chaplygin sleigh are a very useful surrogate model for the swimming robot. The Chaplygin sleigh model is used to demonstrate certain maneuvers by the robot through computations. Experiments with such a robot provide evidence of limit cycle dynamics. Computational models based on discrete-point vortex–body interaction confirm this behavior. Our work also suggests that there is a close phenomenological and mathematical similarity between the dynamics of swimming robots and those of ground-based nonholonomic robots, which could motivate the development of very low-dimensional mathematical models for the motion of other fish-like swimming robots.
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影响因子：
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作者：
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DOI：
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DOI：
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发表时间：
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期刊：
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影响因子：
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