Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I
نویسندگان
چکیده
A new type of Biomimetic Underwater Vehicle (RobCutt-I) inspired by cuttlefish was designed and fabricated in this paper. The RobCutt-I has a good maneuverability and can perform multiple motion modes especially can dive or float vertically. A course controller and a depth controller for the RobCutt-I were proposed respectively based on the active disturbance rejection control (ADRC) technique. Experiments conducted on the RobCutt-I prototype validated the feasibility and effectiveness of the mechanism and control system. Step response experiments on the RobCutt-I prototype showed that both the course controller and depth controller have good performance and antiinterference ability.
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