Source seeking for two nonholonomic models of fish locomotion

  • Authors:

  • Jennie Cochran;Eva Kanso;Scott D. Kelly;Hailong Xiong;Miroslav Krstic

  • Affiliations:

  • Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA;Department of Aerospace and Mechanical Engineering, University of Southern California, Los Angeles, CA;Department of Mechanical Engineering and Engineering Science, University of North Carolina at Charlotte, Charlotte, NC;Department of Mechanical and Industrial Engineering, University of Illinois at Urbana-Champaign, Urbana, IL;Department of Mechanical and Aerospace Engineering, University of California, San Diego, CA

  • Venue:
  • IEEE Transactions on Robotics
  • Year:
  • 2009

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Abstract

In this paper, we present a method of locomotion control for underwater vehicles that are propelled by a periodic deformation of the vehicle body, which is similar to the way a fish moves. We have developed control laws employing "extremum seeking" for two different "fish" models. The first model consists of three rigid body links and relies on a 2-degree-of-freedom (DOF)movement that propels the fish without relying on vortices. The second fish model uses a Joukowski airfoil that has only 1 DOF in its movement and, thus, relies on vortex shedding for propulsion. We achieve model-free and position-free "source seeking," and, if position is available, navigation along a predetermined path.