Fuzzy logic vorticity control of ocillating foil UUV

  • Authors:

  • Wen Li;Wang Tianmiao;Liang Jianhong;Li Jinlan

  • Affiliations:

  • Robotic Institute in School of Mechanical Engineering and Automation, Beihang Unvivercity, Beijing, P.R.China;Robotic Institute in School of Mechanical Engineering and Automation, Beihang Unvivercity, Beijing, P.R.China;Robotic Institute in School of Mechanical Engineering and Automation, Beihang Unvivercity, Beijing, P.R.China;Robotic Institute in School of Mechanical Engineering and Automation, Beihang Unvivercity, Beijing, P.R.China

  • Venue:
  • IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
  • Year:
  • 2009

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Abstract

This paper describes the design of a biomimetic inspired fish swimming like UUV based on 2-D ocillating foil machanism 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 obiviously improved vehicle performance is obtained. Meanwhile, burst-and-coast manevering is found to be a more effective swimming mode for the vihicle while compared with steady swimming.