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

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American Society of Mechanical Engineers Transactions Journal of Fluids Engineering, SME Transactions Journal of Fluids Engineering





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Thispaper treats the question of control of a biorobotic autonomousundersea vehicle (BAUV) in the yaw plane using a biomimeticmechanism resembling the pectoral fins of fish. These fins areassumed to undergo a combined sway-yaw motion and the biasangle is treated as a control input, which is variedin time to accomplish the maneuver in the yaw-plane. Theforces and moments produced by the flapping foil are parametrizedusing computational fluid dynamics. A finite-difference-based, Cartesian grid immersed boundarysolver is used to simulate flow past the flapping foils.The periodic forces and moments are expanded as a Fourierseries and a discrete-time model of the BAUV is developedfor the purpose of control. An optimal control system forthe set point control of the yaw angle and aninverse control law for the tracking of time-varying yaw angletrajectories are designed. Simulation results show that in the closed-loopsystem, the yaw angle follows commanded sinusoidal trajectories and thesegments of the intersample yaw trajectory remain close to thediscrete-time reference trajectory. It is also found that the finssuitably located near the center of mass of the vehicleprovide better maneuverability.


Biomimicry; Biorobotic AUV; CFD; Hydrodynamics; Pectoral fins; Remote submersibles – Control systems; Yaw-plane control


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