Fuzzy logic vorticity control of ocillating foil UUV

This paper describes the design of a biomimetic inspired fish swimming like UUV based on 2-D ocillating foil mechanism which plays guiding role in biomimetic propulsion research field, the relation between vorticity control and motion control parameters for 2-D ocillating foil has been built, a fuzzy logic vorticity controller is designed to achieve straight line maneuverable swimming and thrust efficiency can be ensured at the same time. Experimental result of field test shows that an obviously improved vehicle performance is obtained. Meanwhile, burst-and-coast maneuvering is found to be a more effective swimming mode for the vehicle while compared with steady swimming.