Swimming on limit cycles with nonholonomic constraints

Pollard, Beau; Fedonyuk, Vitaliy; Tallapragada, Phanindra

doi:10.1007/s11071-019-05141-z

Cited by 32 publications

(28 citation statements)

References 49 publications

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“…We can also use Table II to compare the Modboat performance to the foil-shaped robots developed by Pollard et al [4], Fedonyuk [5], and Lee et al [6], whose controllers inspired ours. For 90 • turns convergence time is significantly faster and the distance traveled is significantly lower for the Modboat under the control laws given by (5) and (8).…”

Section: Discussionmentioning

confidence: 99%

“…This works because we are not typically concerned with the state of the reaction body. This is the case for the foil-shaped robots designed by Pollard et al [4] and Lee et al [6], in which the reaction mass is internal. Other solutions can leverage dead-bands in the dynamics; for example, Dear et al resets the rotor velocity of their terrestrial snakeboard system by bringing it to a full stop, at which point the rotor can be slowed without affecting the system [9].…”

Section: Desaturating the Actuatormentioning

confidence: 98%

“…A number of oscillating control laws have been considered for foil-shaped robots. Pollard et al used a sinusoidal forcing term sin (ωt) and an integral term 1 T t t−T (θ r − θ)dt for convergence [4] and showed that it could drive a robot to a desired velocity and reference heading on average. Lee et al used an angular velocity term and a sinusoidal convergence term sin (θ r − θ) [6], but did not significantly characterize its performance.…”

Section: A Control To a Limit Cyclementioning

confidence: 99%

“…Relaxing the no-slip constraint, Pollard used a small-slip condition at the foil tip instead, but this did not change the control methods or increase maneuverability [4]. Dear et al considered lateral skidding as a low-magnitude constraint violation for a (terrestrial) snakeboard system [9], whose dynamics are defined by two no-slip conditions, and saw some success in generating sharper turns.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Pauses Provide Effective Control for an Underactuated Oscillating Swimming Robot

Knizhnik¹,

deZonia²,

Yim³

2020

IEEE Robot. Autom. Lett.

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The Modboat is an autonomous surface robot that turns the oscillation of a single motor into a controlled paddling motion through passive flippers. Inertial control methods developed in prior work can successfully drive the Modboat along trajectories and enable docking to neighboring modules, but have a non-constant cycle time and cannot react to dynamic environments. In this work we present a thrust direction control method for the Modboat that significantly improves the timeresponse of the system and increases the accuracy with which it can be controlled. We experimentally demonstrate that this method can be used to perform more compact maneuvers than prior methods or comparable robots can. We also present an extension to the controller that solves the reaction wheel problem of unbounded actuator velocity, and show that it further improves performance.

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Section: Discussionmentioning

confidence: 99%

Section: Desaturating the Actuatormentioning

confidence: 98%

Section: A Control To a Limit Cyclementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Pauses Provide Effective Control for an Underactuated Oscillating Swimming Robot

Knizhnik¹,

deZonia²,

Yim³

2020

IEEE Robot. Autom. Lett.

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“…the effect of the surrounding flow on the body is manifested by a non-holonomic constraint. In fact, the authors had a series of papers showing similarity between the dynamics of a swimming hydrofoil and the well-known non-holonomic system of the Chaplygin sleigh (Fairchild et al 2011;Pollard, Fedonyuk & Tallapragada 2019).…”

Section: Differential-geometric Mechanics and Control And Its Application To Fluid Problemsmentioning

confidence: 99%

Geometric-control formulation and averaging analysis of the unsteady aerodynamics of a wing with oscillatory controls

et al. 2021

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Differential-geometric-control theory represents a mathematically elegant combination of differential geometry and control theory. Practically, it allows exploitation of nonlinear interactions between various inputs for the generation of forces in non-intuitive directions. Since its early developments in the 1970s, the geometric-control theory has not been duly exploited in the area of fluid mechanics. In this paper, we show the potential of geometric-control theory in the analysis of fluid flows, exemplifying it as a heuristic analysis tool for discovery of symmetry-breaking and unconventional force-generation mechanisms. In particular, we formulate the wing unsteady aerodynamics problem in a geometric-control framework. To achieve this goal, we develop a reduced-order model for the unsteady flow over a pitching–plunging wing that is (i) rich enough to capture the main physical aspects (e.g. nonlinearity of the flow dynamics at large angles of attack and high frequencies) and (ii) efficient and compact enough to be amenable to the analytic tools of geometric nonlinear control theory. We then combine tools from geometric-control theory and averaging to analyse the developed reduced-order dynamical model, which reveals regimes for lift and thrust enhancement mechanisms. The unsteady Reynolds-averaged Navier–Stokes equations are simulated to validate the theoretical findings and scrutinize the underlying physics behind these enhancement mechanisms.

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Achievements and future directions in self‐reconfigurable modular robotic systems

DOKUYUCU

Özmen

2022

Journal of Field Robotics

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Swimming on limit cycles with nonholonomic constraints

Cited by 32 publications

References 49 publications

Pauses Provide Effective Control for an Underactuated Oscillating Swimming Robot

Pauses Provide Effective Control for an Underactuated Oscillating Swimming Robot

Geometric-control formulation and averaging analysis of the unsteady aerodynamics of a wing with oscillatory controls

Achievements and future directions in self‐reconfigurable modular robotic systems

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