Dynamic Modeling and Control of a Parallel Mechanism Used in the Propulsion System of a Biomimetic Underwater Vehicle

Incorporation of parallel mechanisms inside propulsion systems in biomimetic autonomous underwater vehicles (BAUVs) is a novel approach for motion generation. The vehicle to which the studied system implemented presents thunniform locomotion, and its thrust depends mainly on oscillation from caudal fin. This paper describes kinematic dynamic modeling 3-DOF spherical 3UCU-1S robotic fin BAUV attached. Lagrange formalism was employed inverse modeling, derivation detailed throughout this paper. Additionally, implementation control strategies compute forces required actuate limbs change platform’s flapping frequencies developed. Four controllers: classic PD, feedforward plus feedback an adaptive Fuzzy-PD, Fuzzy-PD were compared different simulations. Results showed that augmenting oscillating (from 0.5 5 Hz) increased complexity path tracking task, where strategy (i.e., PD) not sufficient, reaching percentage errors above 9%. Control using terms combined with techniques reduced error below 2% even during presence external disturbances.