Biorobotic AUV Maneuvering by Pectoral Fins: Inverse Control Design Based on CFD Parameterization

Singh, Sahjendra N.; Simha, Ashutosh; Mittal, Rajat

doi:10.1109/joe.2004.833117

Cited by 45 publications

(28 citation statements)

References 27 publications

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“…The idea of modular design was adopted for each part, which has many advantages such as high reliability, easy for assembly and disassembly, excellent expansibility. Figure 6 shows the integrated layout of the UUV [20].…”

Section: Virtual Design Of 1-dof Flapping-foil and Gliding Uuvmentioning

confidence: 99%

Design and Prototype Development of a 1-DOF Flapping-foil & Gliding UUV

Ding¹,

Song²,

Yong-hui³

2012

J Marine Sci Res Development

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Section: Virtual Design Of 1-dof Flapping-foil and Gliding Uuvmentioning

confidence: 99%

Design and Prototype Development of a 1-DOF Flapping-foil & Gliding UUV

Ding¹,

Song²,

Yong-hui³

2012

J Marine Sci Res Development

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“…From an engineering point of view, the main reason for studying flapping flight is the use of animal locomotion as inspiration for improving existing applications or developing new technologies by just mimicking nature evolutionary-optimization process (biomimetics). Such applications may include drag reduction, noise reduction, and flow control by using feather-like structures [1] and flippers tubercles [2]; the development of new propulsion/lift generation systems for micro-air-vehicles (MAVs), nanoair-vehicles (NAVs), and autonomous-underwater-vehicles (AUVs) is inspired by flapping wings or oscillating fins [3][4][5][6][7][8], energy harvesting applications [9], and even robotic extraterrestrial exploring missions [10].…”

Section: Introductionmentioning

confidence: 99%

Wake Topology and Aerodynamic Performance of Heaving Wings

Guerrero¹

2018

Flight Physics - Models, Techniques and Technologies

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Simulating the three-dimensional flow features generated by heaving wings constitutes a great challenge due to the computational effort required to compute the complex three-dimensional flow produced as a function of the kinematics parameters, wing geometry, and Reynolds number. Hereafter, we study the wake topology generated by oscillating rigid wings and the validity of the Strouhal number as the fundamental parameters used to assess the aerodynamic performance of heaving wings. The unsteady laminar incompressible Navier-Stokes equations are solved on moving overlapping structured grids using a second-order accurate in space and time finite-difference numerical method. The numerical simulations are performed at a Reynolds number of Re = 250 and at different values of Strouhal number and heaving frequency.

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“…Extensive research has been carried out for controlling AUVs using traditional control surfaces (Yoerger and Slotine 1985;Healey and Lienard 1993;Fossen 1994). But it appears from the literature that only little theoretical research has been conducted to design control systems using pectoral fins (Kato 2000;Singh et al 2004). …”

Section: Introductionmentioning

confidence: 99%

“…An adaptive control law for the control of undersea vehicles using dorsal fins in which the control force is generated by cambering the fin has been considered. The optimal and inverse control laws have been designed for regulation, and depth and yaw angle trajectory control using mechanical pectoral fins (Singh et al 2004;. For the derivation of these control laws, a parameterisation of periodic fin forces using the computational fluid dynamics (CFD) analysis has been obtained.…”

Section: Introductionmentioning

confidence: 99%

“…For the derivation of these control laws, a parameterisation of periodic fin forces using the computational fluid dynamics (CFD) analysis has been obtained. But the pectoral fin control laws of Singh et al (2004) and have been derived on the assumption that the model parameters are completely known. This is rather a stringent requirement because, in a real case, the vehicle parameters and the hydrodynamic coefficients are not precisely known.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Oscillatory Adaptive Yaw‐Plane Control of Biorobotic Autonomous Underwater Vehicles Using Pectoral‐Like Fins

Naik¹,

Singh²

2007

Applied Bionics and Biomechanics

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This article considers the control of a biorobotic autonomous underwater vehicle (BAUV) in the yaw plane using biologically inspired oscillatory pectoral-like fins of marine animals. The fins are assumed to be oscillating harmonically with a combined linear (sway) and angular (yaw) motion producing unsteady forces, which are used for fish-like control of BAUVs. Manoeuvring of the BAUV in the yaw plane is accomplished by altering the bias (mean) angle of the angular motion of the fin. For the derivation of the adaptive control system, it is assumed that the physical parameters, the hydrodynamic coefficients, and the fin force and moment are not known. A direct adaptive sampleddata control system for the trajectory control of the yaw-angle using only yaw-angle measurement is derived. The parameter adaptation law is based on the normalised gradient scheme. Simulation results for the set point control, sinusoidal trajectory tracking and turning manoeuvres are presented, which show that the control system accomplishes precise trajectory control in spite of the parameter uncertainties.

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Biorobotic AUV Maneuvering by Pectoral Fins: Inverse Control Design Based on CFD Parameterization

Cited by 45 publications

References 27 publications

Design and Prototype Development of a 1-DOF Flapping-foil & Gliding UUV

Design and Prototype Development of a 1-DOF Flapping-foil & Gliding UUV

Wake Topology and Aerodynamic Performance of Heaving Wings

Oscillatory Adaptive Yaw‐Plane Control of Biorobotic Autonomous Underwater Vehicles Using Pectoral‐Like Fins

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