Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV)
The paper treats the question of control of a laterally and rotationally oscillating hydrofoil for the propulsion of biologically inspired robotic (biorobotic) autonomous underwater vehicles (BAUVs). Sinusoidal oscillations of foils produce maneuvering and propulsive forces. The design is based on t...
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| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2005-01-01
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| Series: | Applied Bionics and Biomechanics |
| Online Access: | http://dx.doi.org/10.1533/abbi.2004.0044 |
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| _version_ | 1849686817565048832 |
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| author | S. N. Singh S. Mani |
| author_facet | S. N. Singh S. Mani |
| author_sort | S. N. Singh |
| collection | DOAJ |
| description | The paper treats the question of control of a laterally and rotationally oscillating hydrofoil for the propulsion of biologically inspired robotic (biorobotic) autonomous underwater vehicles (BAUVs). Sinusoidal oscillations of foils produce maneuvering and propulsive forces. The design is based on the internal model principle. Two springs are used to transmit forces from the actuators to the foil. Oscillating fins produce periodic forces, which can be used for fish-like propulsion and control of autonomous underwater vehicles (AUVs). The equations of motion of the foil include hydrodynamic lift and moment based on linear, unsteady, aerodynamic theory. A control law is derived for the lateral and rotational sinusoidal oscillation of the foil. In the closed-loop system, the lateral displacement and the rotational angle of the foil asymptotically follow sinusoidal trajectories of distinct frequencies and amplitudes independently. Simulation results are presented to show the trajectory tracking performance of the foil for different freestream velocities and sinusoidal command trajectories. |
| format | Article |
| id | doaj-art-0063eea86a5043608b468688af0fbbbf |
| institution | DOAJ |
| issn | 1176-2322 1754-2103 |
| language | English |
| publishDate | 2005-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Applied Bionics and Biomechanics |
| spelling | doaj-art-0063eea86a5043608b468688af0fbbbf2025-08-20T03:22:33ZengWileyApplied Bionics and Biomechanics1176-23221754-21032005-01-012211712310.1533/abbi.2004.0044Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV)S. N. Singh0S. Mani1Department of Electrical and Computer Engineering, University of Nevada, Las Vegas, NV 89154-4026, USADepartment of Electrical and Computer Engineering, University of Nevada, Las Vegas, NV 89154-4026, USAThe paper treats the question of control of a laterally and rotationally oscillating hydrofoil for the propulsion of biologically inspired robotic (biorobotic) autonomous underwater vehicles (BAUVs). Sinusoidal oscillations of foils produce maneuvering and propulsive forces. The design is based on the internal model principle. Two springs are used to transmit forces from the actuators to the foil. Oscillating fins produce periodic forces, which can be used for fish-like propulsion and control of autonomous underwater vehicles (AUVs). The equations of motion of the foil include hydrodynamic lift and moment based on linear, unsteady, aerodynamic theory. A control law is derived for the lateral and rotational sinusoidal oscillation of the foil. In the closed-loop system, the lateral displacement and the rotational angle of the foil asymptotically follow sinusoidal trajectories of distinct frequencies and amplitudes independently. Simulation results are presented to show the trajectory tracking performance of the foil for different freestream velocities and sinusoidal command trajectories.http://dx.doi.org/10.1533/abbi.2004.0044 |
| spellingShingle | S. N. Singh S. Mani Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV) Applied Bionics and Biomechanics |
| title | Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV) |
| title_full | Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV) |
| title_fullStr | Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV) |
| title_full_unstemmed | Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV) |
| title_short | Control of Oscillating Foil for Propulsion of Biorobotic Autonomous Underwater Vehicle (AUV) |
| title_sort | control of oscillating foil for propulsion of biorobotic autonomous underwater vehicle auv |
| url | http://dx.doi.org/10.1533/abbi.2004.0044 |
| work_keys_str_mv | AT snsingh controlofoscillatingfoilforpropulsionofbioroboticautonomousunderwatervehicleauv AT smani controlofoscillatingfoilforpropulsionofbioroboticautonomousunderwatervehicleauv |