Biomimicking a Brain-Map Based BCF Mode Carangiform Swimming Behaviour in a Robotic-Fish Underwater Vehicle

摘要: The objective of this paper is to biomimic a rectilinear swimming behaviour propulsion mechanism carangiform robotic fish with impressive speeds and show its exceptional characteristics in the fluid environment. Major kinematic parameters analysed from Lighthill (LH) mathematical model are chosen as major be adapted. Parameter information drawn brain map similar memory. Based on an environment based error signal selects proper parameter/s value showing adaptive behaviour. A DES methodology has been used brain-kinematic-map, then integrated set-point control track generated reference command for fish–tail undulation. adaptation three have shown successfully emulate swimming. Joint-position tracking results found satisfactory converges quick time.