Master of Science (MS)
Electrical and Computer Engineering
First Committee Member
Sahjendra N. Singh
Number of Pages
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.
Biorobotic; Control; Dive; Fin; Pectoral; Plane
Electrical engineering; Ocean engineering
University of Nevada, Las Vegas
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Simha, Aditya, "Pectoral fin control of a biorobotic Auv in the dive pLane" (2005). UNLV Retrospective Theses & Dissertations. 1803.