Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Motivated by the need for efficient control design, in this paper  consider the averaging of dynamics for a tail-actuated robotic fish, based on an experimentally validated dynamic model that incorporates rigid body dynamics and Lighthill's large-amplitude elongated-body theory.  first show that classical averaging theory fails in this case because of the relatively large oscillatory input in the driving terms. On the other hand, while the first-order geometric averaging method for systems with highly oscillatory inputs is able to capture the original time-dependent dynamics, the resulting average model is overly complex for controller design.  propose a novel control-oriented, data-driven averaging approach for robotic fish dynamics, where a scaling function is introduced on top of the classical averaging method.  run extensive simulations for different combinations of tail-beat bias, amplitude, and frequency, and find that the scaling function is constant for the force equations and varies linearly with the tail-beat bias for the moment equation. The validity of the resulting average model has been confirmed in simulation results for open-loop dynamics with new sets of tail-beat parameters, and for closed-loop dynamics when proportional control of the tail-beat bias is used in target tracking.
['Jianxun Wang', 'Songlin Chen', 'Xiaobo Tan']
I am writing a research paper on a idea Control-oriented averaging of tail-actuated robotic fish dynamics
[{"from": "human", "value": "I am writing a research paper on a idea Control-oriented averaging of tail-actuated robotic fish dynamics"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: Motivated by the need for efficient control design, in this paper  consider the averaging of dynamics for a tail-actuated robotic fish, based on an experimentally validated dynamic model that incorporates rigid body dynamics and Lighthill's large-amplitude elongated-body theory.  first show that classical averaging theory fails in this case because of the relatively large oscillatory input in the driving terms. On the other hand, while the first-order geometric averaging method for systems with highly oscillatory inputs is able to capture the original time-dependent dynamics, the resulting average model is overly complex for controller design.  propose a novel control-oriented, data-driven averaging approach for robotic fish dynamics, where a scaling function is introduced on top of the classical averaging method.  run extensive simulations for different combinations of tail-beat bias, amplitude, and frequency, and find that the scaling function is constant for the force equations and varies linearly with the tail-beat bias for the moment equation. The validity of the resulting average model has been confirmed in simulation results for open-loop dynamics with new sets of tail-beat parameters, and for closed-loop dynamics when proportional control of the tail-beat bias is used in target tracking."}]