Optimal Yaw Regulation and Trajectory Control of Biorobotic AUV Using Mechanical Fins Based on CFD Parametrization

Authors

Mukund Narasimhan, University of Nevada, Las Vegas
Hailiang Dong, George Washington UniversityFollow
Rajat Mittal, George Washington UniversityFollow
Sahjendra N. Singh, University of Nevada, Las VegasFollow

Document Type

Article

Publication Date

12-2005

Publication Title

Journal of Fluids Engineering

Volume

128

Issue

4

First page number:

687

Last page number:

698

Abstract

This paper treats the question of control of a biorobotic autonomous undersea vehicle (BAUV) in the yaw plane using a biomimetic mechanism resembling the pectoral fins of fish. These fins are assumed to undergo a combined sway-yaw motion and the bias angle is treated as a control input, which is varied in time to accomplish the maneuver in the yaw-plane. The forces and moments produced by the flapping foil are parametrized using computational fluid dynamics. A finite-difference-based, Cartesian grid immersed boundary solver is used to simulate flow past the flapping foils. The periodic forces and moments are expanded as a Fourier series and a discrete-time model of the BAUV is developed for the purpose of control. An optimal control system for the set point control of the yaw angle and an inverse control law for the tracking of time-varying yaw angle trajectories are designed. Simulation results show that in the closed-loop system, the yaw angle follows commanded sinusoidal trajectories and the segments of the intersample yaw trajectory remain close to the discrete-time reference trajectory. It is also found that the fins suitably located near the center of mass of the vehicle provide better maneuverability.

Keywords

Autonomous robots; Computational fluid dynamics; Fluid dynamics--Computer simulation

Disciplines

Aerodynamics and Fluid Mechanics | Fluid Dynamics | Ocean Engineering | Other Electrical and Computer Engineering | Robotics

Language

English

Permissions

Use Find in Your Library, contact the author, or interlibrary loan to garner a copy of the item. Publisher policy does not allow archiving the final published version. If a post-print (author's peer-reviewed manuscript) is allowed and available, or publisher policy changes, the item will be deposited.

Repository Citation

Narasimhan, M., Dong, H., Mittal, R., Singh, S. N. (2005). Optimal Yaw Regulation and Trajectory Control of Biorobotic AUV Using Mechanical Fins Based on CFD Parametrization. Journal of Fluids Engineering, 128(4), 687-698.