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강태삼(Taesam Kang),허민재(Minjae Hur),김병하(Byung-Ha Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
For the direction control of a fish robot, it is necessary to identify a linear model for the dynamics of it. In this paper, experimental results for the identification of the fish robot model are proposed. Time domain and frequency domain analysis of the dynamic model is studied. Based on the linear model, designed is a robust direction controller using H-infinity control methodology. Simulation and experimental results of the controller are included.