Fuzzy logic PID based control design and performance for a pectoral fin propelled unmanned underwater vehicle

Geder, Jason; Palmisano, John; Ramamurti, Ravi; Ratna, Banahalli R.; Sandberg, William C.

doi:10.1109/iccas.2008.4694526

Cited by 17 publications

(21 citation statements)

References 4 publications

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“…The characterization of the vehicle force and moment coefficients, used to populate the matrices in (2), follows the same computational process as we previously employed for the two-fin vehicle [12] [13]. This process included determining hydrodynamic coefficients from vehicle geometry and CFD simulation, and hydrostatic coefficients from mass and buoyancy measurements.…”

Section: Vehicle Modelmentioning

confidence: 99%

“…These findings allowed us to fix amplitude and frequency as constants and to focus on fin curvature as the primary thrust control parameter. Further, biasing the fin stroke up or down, as in Figure 5, affects fin lift generation while maintaining constant thrust [13]. The absence of any change in forward thrust is evidenced by the fact that forward thrust is generated along the fin axis of revolution by definition, and this axis is always parallel to the vehicle body x-axis regardless of the fin stroke bias.…”

Section: Effect Of Fin Control Parameters On Force Productionmentioning

confidence: 99%

“…In our previous work, we concluded that active control over the curvature of the robotic pectoral fins was necessary to achieve precise low-speed maneuverability of UUVs in highly time-varying external force environments, and others have come to similar conclusions about the use of fish-like fins [10] [11]. Design, construction, and testing of such a fin on a two-fin vehicle have demonstrated the success of this strategy in achieving the force production and vehicle maneuvering capabilities necessary for operation in these challenging environments [8] [12] [13] [14].…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Four-Fin Bio-Inspired UUV: Modeling and Control Solutions

Geder

Ramamurti

Palmisano

et al. 2011

Volume 2: Biomedical and Biotechnology Engineering; Nanoengineering for Medicine and Biology

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This paper describes the modeling and control development of a bio-inspired unmanned underwater vehicle (UUV) propelled by four pectoral fins. Based on both computational fluid dynamics (CFD) and experimental fin data, we develop a UUV model that focuses on an accurate representation of the fin-generated forces. Models of these forces span a range of controllable fin parameters, as well as take into account leading-trailing fin interactions and free stream flow speeds. The vehicle model is validated by comparing open-loop simulated responses with experimentally measured responses to identical fin inputs. Closed-loop control algorithms, which command changes in fin kinematics, are tested on the vehicle. Comparison of experimental and simulation results for various maneuvers validates the fin and vehicle models, and demonstrates the precise maneuvering capabilities enabled by the actively controlled curvature pectoral fins.

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Section: Vehicle Modelmentioning

confidence: 99%

Section: Effect Of Fin Control Parameters On Force Productionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Four-Fin Bio-Inspired UUV: Modeling and Control Solutions

Geder

Ramamurti

Palmisano

et al. 2011

Volume 2: Biomedical and Biotechnology Engineering; Nanoengineering for Medicine and Biology

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“…However, the mean negative lift suggests that we need a vehicle controller that is capable of maintaining vertical position while still enabling this forward speed. Hence, the computed results form the parametric studies on the control variables was used in conjunction with the controller design and was successfully tested by J. Geder et al 22 , using three different control methods, both for vertical level flight and yaw motion.…”

Section: F Hydrodynamic Characteristics Of Nrl-uuvmentioning

confidence: 99%

Computations of Flapping Flow Propulsion for UUV Design

Ramamurti

Geder

Ratna

et al. 2009

47th AIAA Aerospace Sciences Meeting Including the New Horizons Forum and Aerospace Exposition

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Three-dimensional unsteady computations of the flow past a flapping and deforming fin are performed. The computed unsteady lift and thrust force time histories are validated with experimental data and are in good agreement. Several fin parametric studies are performed for a notional Unmanned Underwater Vehicle (UUV). The parametric studies investigated the force production of the fin as a function of varying the flexibility, the bulk amplitude of fin rotation, the vehicle speed and the fin stroke bias angle. The results of these simulations are used to evaluate the hydrodynamic performance of the vehicle and to support controller development.Computations are also performed to map out the hydrodynamic characteristics of a new test vehicle, designed and built at NRL to demonstrate the hovering and low-speed maneuvering performance of a set of actively controlled curvature fins.

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“…The performance of the controller was evaluated in simulation with good results, and the effect of model uncertainties and disturbances on the control performance were discussed. Geder et al (2008) developed a fuzzy logic PID controller to control the trajectory of a vehicle with two pectoral fins. Naik and Singh (2007) studied the motion control of a fish-like robot in the yaw plane.…”

Section: Introductionmentioning

confidence: 99%

Adaptive controller for a biomimetic underwater vehicle

PlamondonNicolas

NahonMeyer

2013

J. Unmanned Veh. Sys.

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Aqua is an underwater biomimetic vehicle designed and built at McGill University that uses six oscillating paddles to produce control and propulsion forces. These oscillating paddles provide a time-periodic thrust. Using an existing dynamics model of the vehicle and a numerical simulation, an adaptive controller was developed to provide trajectory tracking capabilities to the vehicle. The performance of the controller was first assessed on a dynamics simulation using different trajectories in roll and pitch. The same controller was then tested experimentally in the Caribbean Sea. We found that the adaptive controller was able to track the roll angle with good accuracy, while the tracking error in the pitch motion was more significant.Résumé : Aqua est un véhicule sous-marin biomimétique conçu et construit à l'Université McGill. Ce véhicule utilise six nageoires oscillantes servant à le contrôler et à le propulser. À l'aide d'un modèle dynamique du véhicule et d'une simulation numérique, une commande adaptative a été élaborée afin de pouvoir suivre une trajectoire désirée du véhicule. La performance de la commande a été évaluée tout d'abord par simulation utilisant différentes trajectoires de roulis et tangage. La même commande a ensuite été testée au cours d'une séance expérimentale dans la mer des Caraïbes. Les résultats ont démontré que la commande adaptative pouvait suivre l'angle de roulis avec bonne précision alors que l'erreur de suivi dans le mouvement de tangage était plus importante. [Traduit par la Rédaction] Mots-clés : contrôles adaptatifs, biomimétique, véhicule sous-marin.

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Fuzzy logic PID based control design and performance for a pectoral fin propelled unmanned underwater vehicle

Cited by 17 publications

References 4 publications

Four-Fin Bio-Inspired UUV: Modeling and Control Solutions

Four-Fin Bio-Inspired UUV: Modeling and Control Solutions

Computations of Flapping Flow Propulsion for UUV Design

Adaptive controller for a biomimetic underwater vehicle

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