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Swimming locomotion modeling for biomimetic underwater vehicle with two undulating long-fins

Published online by Cambridge University Press:  01 November 2011

Liuji Shang ,
Shuo Wang ,
Min Tan  and
Long Cheng
Liuji Shang
Affiliation:
State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, 95 Zhongguancun East Road, Beijing 100190, China
Shuo Wang*
Affiliation:
State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, 95 Zhongguancun East Road, Beijing 100190, China
Min Tan
Affiliation:
State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, 95 Zhongguancun East Road, Beijing 100190, China
Long Cheng
Affiliation:
State Key Laboratory of Intelligent Control and Management of Complex Systems, Institute of Automation, Chinese Academy of Sciences, 95 Zhongguancun East Road, Beijing 100190, China
*
*Corresponding author. E-mail: shuo.wang@ia.ac.cn
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Summary

A biomimetic underwater vehicle, which is propelled by two undulating long-fins, is introduced in this paper. The undulating or oscillating movements of symmetrical long-fins cause the complex locomotion of biomimetic underwater vehicle. For convenience, three motion modes are proposed and considered firstly. Then an inertial unit is installed for collection of accelerations and angular velocity. The underwater vehicle's MIMO model is reduced into a SISO model by some simplifications. A sine wave function deduced from the long-fin's time-varying membrane is proposed and used as the input of the biomimetic underwater vehicle ARMA model, and velocity or angular velocity is considered as the model output. The algorithms based on recursive weighted least squares are applied for model parameter identification. Experiments carried out with a long-fin propelled underwater vehicle. The experimental results show that the proposed methods can build valid locomotion models for three motion modes efficiently.

Keywords

Biomimetic underwater vehicleRecursive weighted least squaresModelingParameter identification
Type
Articles
Information
Robotica , Volume 30 , Issue 6 , October 2012 , pp. 913 - 923
Copyright
Copyright © Cambridge University Press 2011

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