Comparison of Different Course Controllers of Biomimetic Underwater Vehicle with Two Tail Fins

摘要

In recent times, we may notice some new designs of underwater vehicles which imitate living underwater organisms, e.g. a fish, a seal. These vehicles are called biomimetic. They are driven by an undulating propulsion, imitating a wavy motion of underwater creatures. The Biomimetic Underwater Vehicles (BUV) is a new control object in an underwater robotics. In the paper, problem of BUV's course control is taken into account. The classical Proportional-Integral-Derivative (PID) and Slide Mode (SM) controllers are compared. The settings of the controllers are tuned using three different optimization methods: the Genetic Algorithm (GA), the Particle Swarm Optimization (PSO) and the Pareto Search Algorithm (PSA). The research has been conducted using the mathematical model of mini CyberSeal driven by two side and two tail fins.