Biologically inspired maneuvering of autonomous undersea vehicles (AUVs) in the dive plane using pectoral-like oscillating fins is considered. Computational fluid dynamics are used to parameterize the forces generated by a mechanical flapping foil, which attempts to mimic the pectoral fin of a fish. Since the oscillating fins produce periodic force and moment of a variety of wave shapes, the essential characteristics of these signals are captured in their Fourier expansions. Maneuvering of the biorobotic AUV in the dive plane is accomplished by periodically altering the bias angle of the oscillating fin. Based on a discrete-time AUV model, an inverse control system for the dive-plane control is derived. It is shown that, in the closed-loop system, the inverse control system accomplishes accurate tracking of the prescribed time-varying depth trajectories and the segments of the intersample depth trajectory remain close to the discrete-time reference trajectory. The results show that the fins located away from the center of mass toward the nose of the vehicle provide better maneuverability.


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Biorobotic AUV maneuvering by pectoral fins: inverse control design based on CFD parameterization


    Contributors:
    Singh, S.N. (author) / Simha, A. (author) / Mittal, R. (author)

    Published in:

    Publication date :

    2004


    Size :

    9 Seiten, 32 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




    A biorobotic pectoral fin for autonomous undersea vehicles

    Tangorra, J.L. / Davidson, S.N. / Madden, P.G. et al. | Tema Archive | 2006


    Structure, function, and neural control of pectoral fins in fishes

    Westneat, M.W. / Thorsen, D.H. / Walker, J.A. et al. | Tema Archive | 2004


    Towards a Biorobotic Electrosensory System

    MacIver, M. A. / Nelson, M. E. | British Library Online Contents | 2001


    Propulsion Characteristics of Flapping Caudal Fins and its Upstream Interaction with Pectoral Fins

    Ramamurti, Ravi / Geder, Jason / Viswanath, Kamal et al. | AIAA | 2019


    A novel butterfly-inspired underwater microrobot with pectoral fins

    Shi, Liwei / Guo, Shuxiang / Asaka, K. | Tema Archive | 2011