Modelling and control of a biomimetic autonomous underwater vehicle

This paper presents the mathematical modelling of a biomimetic underwater vehicle with the propulsion system based on fish-like undulation motion. The model has been developed based on conventional underwater vehicle concepts to determine the performance of this robotic fish. Maneuverability is an important aspect in designing this system. The maneuvering approach that has been employed in this study is to change the vehicle heading by altering the tail centreline. A PID based controller is used to act as steering system which controls the tail´s deflection angle. Finally a line of sight autopilot provides a position based outer loop around the PID controller in order to navigate autonomously through a course of predefined waypoints. The performance of each of these systems is analysed and discussed.