A New Hybrid Approach to Dynamic Modeling and Control Design for a Pectoral Fin Propelled Unmanned Underwater Vehicle

A new hybrid approach to modeling and control design for a biologically inspired unmanned underwater vehicle using pectoral fin control force generation is presented in this paper. The full dynamics of the proposed vehicle are modeled and the forces produced by the fins are computed using computational fluid dynamics. The stability of motion in the dive plane is analyzed and a proportional-integral-derivative (PID) control system is designed. Geometric considerations are examined including fin placement, tail plane size and center of mass location. PID control of vehicle depth is implemented using fin surface curvature as a novel control variable. Using computer simulation, controlled vehicle motion is verified and desired maneuverability of the vehicle is achieved in the dive plane.