Motion Planning and Control of a Swimming Machine

Author:

Saimek Saroj1,Li Perry Y.2

Affiliation:

1. Department of Mechanical Engineering, University of Minnesota, 111 Church St. SE Minneapolis MN 55455, USA; Department of Mechanical Engineering, King Mongkut’s University Of Technology, Thonburi, Bangkok, Thailand

2. Department of Mechanical Engineering, University of Minnesota, 111 Church St. SE Minneapolis MN 55455, USA

Abstract

We propose a practical maneuvering control strategy for an aquatic vehicle (AV) that uses an oscillating foil as a propulsor. The challenge of this problem lies in the need to consider the hydrodynamic interaction as well as the underactuated and non-minimum phase natures of the AV system. The control task is decomposed into the off-line step of motion planning and the on-line step of feedback tracking. Optimal control techniques are used to compute a repertoire of time-scalable and concatenable motion primitives. The complete motion plan is obtained by concatenating time-scaled copies of the primitives. The computed optimal motion plans are regulated by a controller that consists of a cascade of linear quadratic regulator, input–output feedback linearization and sliding mode control. Time-varying linear quadratic controllers can also be time-scaled and concatenated. Therefore, they can be computed beforehand. The proposed strategy has been experimentally validated for both constrained longitudinal only maneuvers and unconstrained longitudinal/lateral maneuvers.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Reference12 articles.

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2. Czarnowski, J., Cleary, R., and Kreamer, B. May 1997. Exploring the possibility of placing traditional marine vessels under oscillating foil propulsion . In Proceedings of the 7th International Offshore and Polar Engineering Conference, Vol. 2, 76–81 .

3. Steering of a class of nonholonomic systems with drift terms

4. Gray, J. 1936. Studies in animal locomotion. VI. The propulsive powers of the dolphin . Journal of Experimental Biology 13: 192–199 .

5. Modeling the dynamics of spring-driven oscillating-foil propulsion

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