Chen, Zheng2023-01-15May 20222022-05-12Portions of this document appear in: Wenyu Zuo, Frank Fish, and Zheng Chen. “Bio-inspired design, modeling, and control of robotic fish propelled by a double-slider-crank mechanism driven tail”, Journal of Dynamic Systems, Measurement, and Control, 143(12): 121005 (10 pages), 2021; and in: Wenyu Zuo, Kashish Dhal, Alicia Keow, Animesh Chakravarthy, and Zheng Chen, “Model-based control of a robotic fish to enable 3d maneuvering through a moving orifice”, IEEE Robotics and Automation Letters, 5(3):4719-4726, 2020https://hdl.handle.net/10657/13338Robotic fish, as an emerging member of marine robots, have received lots of attention in recent years. Because of its unique propulsion mechanism, a large amount of research work today focuses on robotic fish design. Due to the complex hydrodynamics, the modeling of the robotic fish has become a challenging topic, and the research on control and application is still in its beginning. This study systematically introduces the development and application of a robotic fish from the perspective of design, modeling, and control. A three-joint robotic fish propelled by a Double-Slider-Crank (DSC) mechanism, which uses one DC motor to achieve oscillating foil propulsion, is designed. From the design aspect, DSC helps the robotic fish in mimicking a real fish's two-dimensional free-swimming. The robotic fish's top speed is 0.35 m/s at 3 Hz, equivalent to 0.98 body length (BL) per second. DSC also benefits the control of the robotic fish by independently adjusting its steering and swimming speed. This characteristic is studied in a hydrodynamic model that derives the thrust within a DSC frame. A semi-physics-based and data-driven linear model is established to connect the bias angle to the robotic fish's steering. A linear model is used to design a controller, called event-trigger-control, to overcome the adverse effects of communication drop-off. Furthermore, the work is extended to a robotic fish application study that uses robotic fish to estimate the flow field. Besides, the three-dimensional maneuverability is also addressed by developing a buoyancy control device to change depth. Overall, the proposed robotic fish has an excellent performance in free-swimming and shows great application value in environmental surveys.application/pdfengThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. UH Libraries has secured permission to reproduce any and all previously published materials contained in the work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).Underwater robotRobotic fishDynamic and control2023-01-15Thesisborn digital