P038

Motion Control and Way-point Tracking of a Biomimetic Underwater Vehicle

A0092 Jenhwa Guo Department of Naval Architecture and Ocean Engineering, National Taiwan University

A0091 Forng-Chen Chiu Department of Naval Architecture and Ocean Engineering, National Taiwan University

A0095 Yung-Jyi Joeng

AUVs with rigid hulls and powered by rotary propellers have problems

such as low propulsion efficiency, difficulties in positioning, agile

turning, and precise hovering. Recently, the research and development

of biomimetic AUVs (BAUVs) is growing up in order to overcome the

problems of AUVs. A BAUV testbed is being developed. Our BAUV

testbed is composed of several links and joints. A dynamic model

based on the potential theory is presented. We develop a local

control law that coordinates body angles by periodically alternating

the position of the center-of-mass in the local coordinate. Here we

introduce three parameters to define the position of the center-of-

mass. We have found that three parameters are sufficient to

coordinate joint angles to perform the carangiform swimming. We then

develop a global control law for the way-point tracking problem. The

effectiveness of this method is evaluated by computer simulation.

Control performance of the BAUV system with model uncertainties to

track way-points under he influence of disturbances is also discussed.