Pectoral fin control of a biorobotic AUV in the dive plane.

摘要

Maneuvering of biologically inspired robotic undersea vehicles (BAUVs) is considered in the dive plane using pectoral-like oscillating fins. Firstly, an open-loop and optimal feedback control system is designed to control a biorobotic AUV in the dive plane. Next, an inverse control system for dive-plane control is derived based on a discrete-time AUV model. An approximate minimum phase system with a new output variable is derived for the purpose of design.; Computational fluid dynamics (CFD) is used to parameterize the forces generated by a mechanical oscillatory flapping foil, which attempts to mimic the pectoral fin of a fish. Finally, a control system for the independent asymptotic control of the lateral and rotational motion of a 2-D hydrofoil based on the internal model principle (servomechanism theory) is derived.