Open AccessOscillatory adaptive yaw-plane control of biorobotic autonomous underwater vehicles using pectoral-like fins
Author(s) -
Mugdha S. Naik,
Sahjendra N. Singh
Publication year - 2008
Publication title -
applied bionics and biomechanics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.397
H-Index - 23
eISSN - 1754-2103
pISSN - 1176-2322
DOI - 10.1080/11762320801999746
Subject(s) - marine engineering , plane (geometry) , underwater , control theory (sociology) , computer science , engineering , control (management) , simulation , control engineering , artificial intelligence , mathematics , geology , geometry , oceanography
This article considers the control of a biorobotic autonomous underwater vehicle (BAUV) in the yaw plane using biologically inspired oscillatory pectoral-like fins of marine animals. The fins are assumed to be oscillating harmonically with a combined linear (sway) and angular (yaw) motion producing unsteady forces, which are used for fish-like control of BAUVs. Manoeuvring of the BAUV in the yaw plane is accomplished by altering the bias (mean) angle of the angular motion of the fin. For the derivation of the adaptive control system, it is assumed that the physical parameters, the hydrodynamic coefficients, and the fin force and moment are not known. A direct adaptive sampled-data control system for the trajectory control of the yaw-angle using only yaw-angle measurement is derived. The parameter adaptation law is based on the normalised gradient scheme. Simulation results for the set point control, sinusoidal trajectory tracking and turning manoeuvres are presented, which show that the control system accomplishes precise trajectory control in spite of the parameter uncertainties