Tracking Control for a Biomimetic Autonomous Underwater Vehicle Using Pectoral and Caudal Fins
نویسندگان
چکیده
The objective of this study is to develop a controller to perform trajectory tracking for a Biomimetic Autonomous Underwater Vehicle (BAUV). A mathematical model of a BAUV including both a caudal fin and pectoral fins is proposed for the motion simulation. Control patterns to manipulate the caudal fin and a pair of pectoral fins are developed. For body-caudal fin control, parameters that are essential for the control of surge speed and the yaw rate are defined. For pectoral fins, parameters that can be used to control the surge speed and the yaw rate are also found. A coordinated control method which combines the body-caudal fin with pectoral fins systems is proposed for the BAUV. The coordinated controller for trajectory tracking is implemented using a BAUV testbed in a water tank. Experimental results are demonstrated to show the effectiveness of the proposed controller. Swimming performance in turning, braking and hovering of the BAUV testbed using the coordinated control are shown.
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