Design of a waypoint-tracking controller for a biomimetic-autonomous underwater vehicle

Author

Guo, Jenhwa ; Tsai, Jing-Far ; Chiu, Fomg-Chen ; Cheng, Sheng-Wen ; Ho, Ye-Sheng

Author_Institution

Dept. of Eng. Sci. & Ocean Eng., Nat. Taiwan Univ., Taipei, Taiwan

Volume

1

fYear

2003

fDate

22-26 Sept. 2003

Firstpage

333

Abstract

We develop a control system for the waypoint-tracking of a biomimetic-autonomous underwater vehicle (BAUV). The BAUV swims forward by oscillating its body and caudal fin and turns by slanting its body and caudal fin to the side of turning direction. Because of the undulatory motion of BAUV, we take moving averages of swimming velocity and heading error as feedback signal to control the velocity and angular velocity of BAUV. The control algorithm utilizes the oscillating frequency to control the forward speed, and a body-spline offset parameter to control the yawing rate. We verify the effectiveness of control algorithms by experiments. Finally, we discuss the stability of the control system based on a Lyapunov function.

Keywords

Lyapunov methods; biomimetics; navigation; oceanographic equipment; position control; underwater vehicles; BAUV undulatory motion; Lyapunov function; biomimetic-autonomous underwater vehicle; caudal fin; control algorithm; control system; feedback signal; turning direction; waypoint-tracking controller design; yawing rate; Angular velocity; Angular velocity control; Control systems; Error correction; Feedback; Frequency; Motion control; Stability; Turning; Underwater vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

OCEANS 2003. Proceedings

Conference_Location

San Diego, CA, USA

Print_ISBN

0-933957-30-0

Type

conf

DOI

10.1109/OCEANS.2003.178580

Filename

1282456