Skip to main content

Advertisement

SpringerLink
Log in

Mathematical Modeling and Stability Analysis of an Effective Design of Biomimetic AUV

  • Short Paper
  • Published:
Journal of Intelligent & Robotic Systems Aims and scope Submit manuscript

Abstract

Theresearch on autonomous underwater vehicles (AUVs) has accomplished enormous attention during the last few decades because of its applications in many marine systems fields. A significant number of AUVs have been developed to solve the wide range of scientific and applied tasks of ocean research and development worldwide. Thus the main aim of this research is to provide an effective mathematical model of Biomimetic AUV dynamics. For instance, to develop high-fidelity AUV simulation and control algorithms, we need to know the overall mathematical model of AUV dynamics. In order to endorse the ability of the proposed model, stability analysis has been performed, and the model is validated by designing a coupled velocity tracking control using a PID controller.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Puthenkalathil, R.C.: Unraveling the mechanism of biomimetic hydrogen fuel production. PhD thesis University of Amsterdam (2021)

  2. Purpose, S.: Underwater Research Vehicle (SPURV) (2016)

  3. Widditsch, H.: Spurv-The First Decade. Technical report, WASHINGTON UNIV SEATTLE APPLIED PHYSICS LAB (1973)

  4. Gertler, M., Hagen, G.R.: Standard Equations of Motion for Submarine Simulation. Technical report, David w Taylor Naval Ship Research and Development Center Bethesda MD (1967)

  5. Feldman, J.: Dtnsrdc Revised Standarrd Submarine Equations of Motion. Technical report, DAVID W TAYLOR NAVAL SHIP RESEARCH AND DEVELOPMENT CENTER BETHESDA MD SHIP.. (1979)

  6. Schindele, D., Aschemann, H.: P-type ilc with phase lead compensation for a pneumatically driven parallel robot. In: 2012 American Control Conference (ACC), pp 5484–5489. IEEE (2012)

  7. Humphreys, D.: Development of the Equations of Motion and Transfer Functions for Underwater Vehicles. Technical report, NAVAL COASTAL SYSTEMS LAB PANAMA CITY FLA (1976)

  8. Nahon, M.: A simplified dynamics model for autonomous underwater vehicles. In: Proceedings of Symposium on Autonomous Underwater Vehicle Technology, pp 373–379. IEEE (1996)

  9. Fossen, T.I.: Guidance and control of ocean vehicle. Wiley (1994)

  10. Fossen, T.I.: Handbook of marine craft hydrodynamics and motion control. Wiley (2011)

  11. Aruna, M.: Heading and obstacle avoidance of biomimetic auv using advanced control strategies. In: OCEANS 2022-Chennai, pp 1–7. IEEE (2022)

  12. Saout, O.: Computation of Hydrodynamic Coefficients and Determination of Dynamic Stability Characteristics of an Underwater Vehicle including Free Surface Effects. PhD thesis, Florida Atlantic University (2003)

  13. Gertler, M.: A Reanalysis of the Original Test Data for the Taylor Standard Series. Technical report, DAVID TAYLOR MODEL BASIN WASHINGTON DC (1954)

  14. Saout, O., Ananthakrishnan, P.: Hydrodynamic and dynamic analysis to determine the directional stability of an underwater vehicle near a free surface. Appl. Ocean Res. 33(2), 158–167 (2011)

    Article  Google Scholar 

  15. V, A.M.: A Virtual Design and Simulation of Biomimetic Autonomous Underwater Vehicle. unpublished manuscript (2021)

  16. Aruna, M.: Velocity tracking and pitch depth regulation of biomimetic autonomous underwater vehicle using different control strategies. In: International Journal of Vehicle Autonomous Systems, (Under Review) (2022)

  17. Ahmad Mazlan, A.N.: A Fully Actuated Tail Propulsion System for a Biomimetic Autonomous Underwater Vehicle. PhD thesis, University of Glasgow (2015)

  18. Triantafyllou, M.S., Techet, A.H., Hover, F.S.: Review of experimental work in biomimetic foils. IEEE J. Ocean. Eng. 29(3), 585–594 (2004)

    Article  Google Scholar 

  19. Lighthill, M.J.: Aquatic animal propulsion of high hydromechanical efficiency. J. Fluid Mech. 44(2), 265–301 (1970)

    Article  MATH  Google Scholar 

  20. von Karman, T.H., Sears, W.R.: Airfoil theory for non-uniform motion. J. Aeronaut. Sci. 5 (10), 379–390 (1938)

    Article  MATH  Google Scholar 

  21. Kanat, O.̈O.̈, Karatay, E., Köse, O., Oktay, T.: Combined active flow and flight control systems design for morphing unmanned aerial vehicles. Proceedings of the Institution of Mechanical Engineers, Part G: Journal of Aerospace Engineering 233(14), 5393–5402 (2019)

    Article  Google Scholar 

  22. Kose, O., Oktay, T.: Simultaneous quadrotor autopilot system and collective morphing system design. Aircr. Eng. Aerosp. Technol. 92(7), 1093–1100 (2020)

    Article  Google Scholar 

  23. Oktay, T., Coban, S.: Simultaneous longitudinal and lateral flight control systems design for both passive and active morphing tuavs. Elektronika ir elektrotechnika 23(5), 15–20 (2017)

    Article  Google Scholar 

  24. Licht, S., Hover, F., Triantafyllou, M.S.: Design of a flapping foil underwater vehicle. In: Proceedings of the 2004 International Symposium on Underwater Technology (IEEE Cat. No. 04EX869), pp 311–316. IEEE (2004)

  25. Theodorsen, T., Mutchler, W.: General theory of aerodynamic instability and the mechanism of flutter (1935)

  26. Harper, K.A., Berkemeier, M.D., Grace, S.: Modeling the dynamics of spring-driven oscillating-foil propulsion. IEEE J. Ocean. Eng. 23(3), 285–296 (1998)

    Article  Google Scholar 

  27. Singh, S.N., Mani, S.: Control of oscillating foil for propulsion of biorobotic autonomous underwater vehicle (auv). Appl. Bionics Biomech. 2(2), 117–123 (2005)

    Article  Google Scholar 

  28. Narasimhan, M: Dorsal and pectoral fin control of a biorobotic autonomous underwater vehicle. University of Nevada, Las Vegas (2005)

  29. Aruna, M.: Heave and roll control of biomimetic autonomous underwater vehicle using distinct control methods. In: OCEANS 2022-Hampton Roads (2022)

  30. Elnashar, G.A.: Performance and stability analysis of an autonomous underwater vehicle guidance and control. In: 2013 5th International Conference on Modelling, Identification and Control (ICMIC), pp 67–73. IEEE (2013)

  31. Sastry, S.: Lyapunov stability theory. In: Nonlinear Systems, pp 182–234. Springer (1999)

  32. Badawy, A., Omer, A.: Stress and dynamic analysis of simple remotely operated underwater vehicle. In: The International Conference on Applied Mechanics and Mechanical Engineering. Military Technical College, vol. 15, pp 1–22 (2012)

  33. Bennett, S.: Development of the pid controller. IEEE Control. Syst. Mag. 13(6), 58–62 (1993)

    Article  Google Scholar 

  34. Thomas, N., Poongodi, D.P.: Position control of Dc motor using genetic algorithm based Pid controller. In: Proceedings of the World Congress on Engineering, vol. 2, pp 1–3, London, UK (2009)

Download references

Acknowledgments

The author gratefully acknowledges Dr. P Ananthakrishnan, Department of Ocean Engineering, Indian Institute of Technology, Madras for his valuable support and cooperation to do this research.

Author information

Authors and Affiliations

  1. Department of Ocean Engineering, Indian Institute of Technology, Madras, Adayar, Chennai, 600036, Tamilnadu, India

    M. V. Aruna

Authors
  1. M. V. Aruna
    View author publications

    You can also search for this author in PubMed Google Scholar

Contributions

The author contributed to the conception and design of this study. Material preparation, analysis, and implementation were performed by Aruna M V.

Corresponding author

Correspondence to M. V. Aruna.

Ethics declarations

Conflict of Interests

The authors declare that there is no conflict of interest.

Additional information

Publisher’s Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Springer Nature or its licensor (e.g. a society or other partner) holds exclusive rights to this article under a publishing agreement with the author(s) or other rightsholder(s); author self-archiving of the accepted manuscript version of this article is solely governed by the terms of such publishing agreement and applicable law.

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Aruna, M.V. Mathematical Modeling and Stability Analysis of an Effective Design of Biomimetic AUV. J Intell Robot Syst 106, 75 (2022). https://doi.org/10.1007/s10846-022-01768-0

Download citation

  • Received:

  • Accepted:

  • Published:

  • DOI: https://doi.org/10.1007/s10846-022-01768-0

Keywords

Search

Navigation