The optimal control of a flexible hull robotic undersea vehicle propelled by an oscillating foil

Determining the optimal swimming motion for a flexible hull robotic undersea vehicle propelled by an oscillating foil is an acutely complex problem involving the vehicle´s body kinematics and the hydrodynamics of the surrounding water. The overall intractability of the hydrodynamics of a flexible body precludes a purely analytical solution. The immense size of the experimental variable space prevents a purely empirical one. In order to overcome both difficulties, we have developed a self-optimizing motion controller based on a genetic algorithm. This controller effectively uses evolutionary principles to exponentially optimize swimming performance