Award Date

1-1-2005

Degree Type

Thesis

Degree Name

Master of Science (MS)

Department

Electrical and Computer Engineering

First Committee Member

Sahjendra N. Singh

Number of Pages

93

Abstract

Maneuvering of biologically inspired robotic undersea vehicles (BAUVs) is considered in the dive plane using pectoral-like oscillating fins. Firstly, an open-loop and optimal feedback control system is designed to control a biorobotic AUV in the dive pLane Next, an inverse control system for dive-plane control is derived based on a discrete-time AUV model. An approximate minimum phase system with a new output variable is derived for the purpose of design; Computational fluid dynamics (CFD) is used to parameterize the forces generated by a mechanical oscillatory flapping foil, which attempts to mimic the pectoral fin of a fish. Finally, a control system for the independent asymptotic control of the lateral and rotational motion of a 2-D hydrofoil based on the internal model principle (servomechanism theory) is derived.

Keywords

Biorobotic; Control; Dive; Fin; Pectoral; Plane

Controlled Subject

Electrical engineering; Ocean engineering

File Format

pdf

File Size

2170.88 KB

Degree Grantor

University of Nevada, Las Vegas

Language

English

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