Journal
ADVANCED ROBOTICS
Volume 28, Issue 10, Pages 673-681Publisher
TAYLOR & FRANCIS LTD
DOI: 10.1080/01691864.2014.888373
Keywords
AUVs; biomimetic; pectoral foil; fuzzy control; underwater vehicles
Categories
Funding
- National Natural Science Foundation [51205011, 51005006]
- Chinese Postdoctoral Science Foundation [2012M510304]
- Research Fund for the Doctoral Program of Higher Education of China [20101102110022]
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This study aims to develop a waypoint-tracking control system for a biomimetic underwater vehicle (BUV). The BUV is propelled by wide paired pectoral foils, and each pectoral foil is driven by three independent fin rays. To simplify the control strategy, the maximum flapping amplitude of the pectoral fin is used to control the forward velocity, and a turning factor is defined for the manoeuvre control. Several swimming experiments are carried out to investigate the influence of the control parameters on the swimming performance of the prototype. Based on the results of the swimming experiments, a waypoint-tracking control system is proposed, which contains two layers: the velocity control layer and the heading angle control layer. A subdivision control method is adopted by the velocity control layer to get the maximum flapping amplitude. The fuzzy control method is employed by the heading angle control layer to obtain the turning factor for steering motion. Several waypoint-tracking experiments are carried out to verify effectiveness of the control system. The results show that the prototype can automatically reach the target area with the designed control system, even though the waypoints are arranged or randomly given.
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