Maneuvering performance of a four-fin bio-inspired UUV

This paper describes the modeling and maneuvering performance of a second generation (Gen2) bio-inspired unmanned underwater vehicle (UUV) propelled by four pectoral fins. Based on both computational fluid dynamics (CFD) simulations and experimental data, we developed a UUV model that includes a representation of actively controlled curvature fin-generated forces. The vehicle model is validated by comparing open-loop simulated responses with experimentally measured responses to identical fin thrust and lift inputs. Closed-loop control algorithms, which command changes in fin kinematics, are tested on the vehicle. Comparison of experimental and simulation results for various maneuvers validates the fin and vehicle models, and demonstrates the precise maneuvering capabilities enabled by the actively controlled curvature pectoral fins. Finally, various dynamics state responses of the Gen2 vehicle are compared with those of the smaller first generation (Gen1) vehicle to evaluate the effects of vehicle changes on performance.