Biology-Inspired Robust Dive Plane Control of Non-Linear AUV Using Pectoral-Like Fins
The development of a control system for the dive plane control of non-linear biorobotic autonomous underwater vehicles, equipped with pectoral-like fins, is the subject of this paper. Marine animals use pectoral fins for swimming smoothly. The fins are assumed to be oscillating with a combined pitch...
Saved in:
| Main Authors: | , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Wiley
2010-01-01
|
| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1080/11762321003760936 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832555029827944448 |
|---|---|
| author | Subramanian Ramasamy Sahjendra N. Singh |
| author_facet | Subramanian Ramasamy Sahjendra N. Singh |
| author_sort | Subramanian Ramasamy |
| collection | DOAJ |
| description | The development of a control system for the dive plane control of non-linear biorobotic autonomous underwater vehicles, equipped with pectoral-like fins, is the subject of this paper. Marine animals use pectoral fins for swimming smoothly. The fins are assumed to be oscillating with a combined pitch and heave motion and therefore produce unsteady control forces. The objective is to control the depth of the vehicle. The mean angle of pitch motion of the fin is used as a control variable. A computational-fluid-dynamics-based parameterisation of the fin forces is used for control system design. A robust servo regulator for the control of the depth of the vehicle, based on the non-linear internal model principle, is derived. For the control law derivation, an exosystem of third order is introduced, and the non-linear time-varying biorobotic autonomous underwater vehicle model, including the fin forces, is represented as a non-linear autonomous system in an extended state space. The control system includes the internal model of a k-fold exosystem, where k is a positive integer chosen by the designer. It is shown that in the closed-loop system, all the harmonic components of order up to k of the tracking error are suppressed. Simulation results are presented which show that the servo regulator accomplishes accurate depth control despite uncertainties in the model parameters. |
| format | Article |
| id | doaj-art-21243019944c45798b2fd6619088e8b5 |
| institution | Kabale University |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2010-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-21243019944c45798b2fd6619088e8b52025-02-03T05:49:48ZengWileyApplied Bionics and Biomechanics1176-23221754-21032010-01-017215316810.1080/11762321003760936Biology-Inspired Robust Dive Plane Control of Non-Linear AUV Using Pectoral-Like FinsSubramanian Ramasamy0Sahjendra N. Singh1Department of Electrical and Computer Engineering, University of Nevada Las Vegas Las Vegas, NV, USADepartment of Electrical and Computer Engineering, University of Nevada Las Vegas Las Vegas, NV, USAThe development of a control system for the dive plane control of non-linear biorobotic autonomous underwater vehicles, equipped with pectoral-like fins, is the subject of this paper. Marine animals use pectoral fins for swimming smoothly. The fins are assumed to be oscillating with a combined pitch and heave motion and therefore produce unsteady control forces. The objective is to control the depth of the vehicle. The mean angle of pitch motion of the fin is used as a control variable. A computational-fluid-dynamics-based parameterisation of the fin forces is used for control system design. A robust servo regulator for the control of the depth of the vehicle, based on the non-linear internal model principle, is derived. For the control law derivation, an exosystem of third order is introduced, and the non-linear time-varying biorobotic autonomous underwater vehicle model, including the fin forces, is represented as a non-linear autonomous system in an extended state space. The control system includes the internal model of a k-fold exosystem, where k is a positive integer chosen by the designer. It is shown that in the closed-loop system, all the harmonic components of order up to k of the tracking error are suppressed. Simulation results are presented which show that the servo regulator accomplishes accurate depth control despite uncertainties in the model parameters.http://dx.doi.org/10.1080/11762321003760936 |
| spellingShingle | Subramanian Ramasamy Sahjendra N. Singh Biology-Inspired Robust Dive Plane Control of Non-Linear AUV Using Pectoral-Like Fins Applied Bionics and Biomechanics |
| title | Biology-Inspired Robust Dive Plane Control of Non-Linear AUV Using Pectoral-Like Fins |
| title_full | Biology-Inspired Robust Dive Plane Control of Non-Linear AUV Using Pectoral-Like Fins |
| title_fullStr | Biology-Inspired Robust Dive Plane Control of Non-Linear AUV Using Pectoral-Like Fins |
| title_full_unstemmed | Biology-Inspired Robust Dive Plane Control of Non-Linear AUV Using Pectoral-Like Fins |
| title_short | Biology-Inspired Robust Dive Plane Control of Non-Linear AUV Using Pectoral-Like Fins |
| title_sort | biology inspired robust dive plane control of non linear auv using pectoral like fins |
| url | http://dx.doi.org/10.1080/11762321003760936 |
| work_keys_str_mv | AT subramanianramasamy biologyinspiredrobustdiveplanecontrolofnonlinearauvusingpectorallikefins AT sahjendransingh biologyinspiredrobustdiveplanecontrolofnonlinearauvusingpectorallikefins |