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TECHNICAL PAPERS

Optimal Yaw Regulation and Trajectory Control of Biorobotic AUV Using Mechanical Fins Based on CFD Parametrization

[+] Author and Article Information
Mukund Narasimhan

Department of Electrical & Computer Engineering, University of Nevada, Las Vegas, NV 89154-4026

Haibo Dong

Department of Mechanical and Aerospace Engineering, The George Washington University, Washington DC 22052haibo@gwu.edu

Rajat Mittal

Department of Mechanical and Aerospace Engineering, The George Washington University, Washington DC 22052mittal@gwu.edu

Sahjendra N. Singh

Department of Electrical & Computer Engineering, University of Nevada, Las Vegas, NV 89154-4026sahaj@ee.unlv.edu

J. Fluids Eng 128(4), 687-698 (Dec 27, 2005) (12 pages) doi:10.1115/1.2201634 History: Received April 08, 2005; Revised December 27, 2005

This paper treats the question of control of a biorobotic autonomous undersea vehicle (BAUV) in the yaw plane using a biomimetic mechanism resembling the pectoral fins of fish. These fins are assumed to undergo a combined sway-yaw motion and the bias angle is treated as a control input, which is varied in time to accomplish the maneuver in the yaw-plane. The forces and moments produced by the flapping foil are parametrized using computational fluid dynamics. A finite-difference-based, Cartesian grid immersed boundary solver is used to simulate flow past the flapping foils. The periodic forces and moments are expanded as a Fourier series and a discrete-time model of the BAUV is developed for the purpose of control. An optimal control system for the set point control of the yaw angle and an inverse control law for the tracking of time-varying yaw angle trajectories are designed. Simulation results show that in the closed-loop system, the yaw angle follows commanded sinusoidal trajectories and the segments of the intersample yaw trajectory remain close to the discrete-time reference trajectory. It is also found that the fins suitably located near the center of mass of the vehicle provide better maneuverability.

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Copyright © 2006 by American Society of Mechanical Engineers
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Figures

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Figure 1

Model of the underwater vehicle with the pectoral fins

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Figure 2

A thin ellipsoidal foil defined in terms of a surface mesh with triangular elements

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Figure 3

Side view of wake structures for flow past the flapping foil with two yaw-bias angles: (a) bias angle 0deg and (b) bias angle 20deg

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Figure 4

Center-plane time-averaged streamwise velocity contours for flow past the flapping foil with two yaw-bias angles. Black lines are the streamwise velocity profiles: (a) bias angle 0deg and (b) bias angle 20deg

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Figure 5

Harmonic components of the force for two yaw-bias angles: (a) bias angle 0deg and (b) bias angle 20deg

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Figure 6

Optimal control: Frequency of flapping=8Hz, dcgf=0m for ψ*=15deg: (a) heading angle, ψ (deg); (b) bias angle (control input), β (deg); (c) yaw rate, r (deg/s); (d) lateral velocity, v (m/s); (e) lateral force, Fy (N); and (f) side moment, My (Nm)

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Figure 7

Optimal control: Frequency of flapping=8Hz, dcgf=0.15m for ψ*=15deg: (a) heading angle, ψ (deg); (b) bias angle (Control input), β (deg); (c) yaw rate, r (deg/s); (d) lateral velocity, v (m/s); (e) lateral force, Fy (N); and (f) side moment, My (Nm)

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Figure 8

Optimal control: Frequency of flapping=6Hz, dcgf=0m for ψ*=15deg: (a) heading angle, ψ (deg); (b) bias angle (control input), β (deg); (c) yaw rate, r (deg/s); (d) lateral velocity, v (m/s); (e) lateral force, Fy (N); and (f) side moment, My (Nm)

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Figure 9

Optimal control: Frequency of flapping=6Hz, dcgf=0.15m for ψ*=15deg: (a) heading angle, ψ (deg); (b) bias angle (control input), β (deg); (c) yaw rate, r (deg/s); (d) lateral velocity, v (m/s); (e) lateral force, Fy (N); and (f) side moment, My (Nm)

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Figure 10

Inverse control: Frequency of flapping=8Hz, dcgf=0m for ψ*=15deg: (a) reference heading angle, Yr (staircase); modified heading angle Ya (broken line); and actual heading angle ψ (solid line) (deg): (b) Bias angle (control input), β (deg); (c) yaw rate, r (deg/s); (d) lateral velocity, v (m/s); (e) lateral force, Fy (N); and (f) side moment, My (Nm).

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Figure 11

Inverse control: Frequency of flapping=8Hz, dcgf=0.15m for ψ*=15deg: (a) reference heading angle, Yr (staircase); modified heading angle, Ya (broken line); and actual heading angle, ψ (solid line) (deg): (b) Bias angle (control input), β (deg); (c) yaw rate, r (deg/s); (d) lateral velocity, v (m/s); (e) lateral force, Fy (N); and (f) side moment, My (Nm).

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Figure 12

Inverse control: Frequency of flapping=6Hz, dcgf=0m for ψ*=15deg: (a) reference heading angle, Yr (staircase); modified heading angle, Ya (broken line); and actual heading angle, ψ (solid Line) (deg). (b) Bias angle (control input), β (deg); (c) yaw rate, r (deg/s); (d) lateral velocity, v (m/s); (e) lateral force, Fy (N); and (f) side moment, My (Nm).

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Figure 13

Inverse control: Frequency of flapping=6Hz, dcgf=0.15m for ψ*=15deg: (a) reference heading angle, Yr (staircase); modified heading angle, Ya (broken line); and actual heading angle, ψ (solid line) (deg). (b) Bias angle (control input), β (deg); and (c) yaw rate, r (deg/s); (d) lateral velocity, v (m/s); (e) lateral force, Fy (N); and (f) side moment, My (Nm).

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