Numerical Study on Motion Simulation with Control Algorithm of Biomimetic Underwater Vehicle

Abstract

This paper describes the numerical simulations of simple motion and motion control of a biomimetic underwater vehicle equipped with two pairs of mechanical pectoral fins. This biomimetic underwater vehicle is called PLATYPUS, which was developed several years ago in Osaka Univ. Practical and accurate control algorithm is necessary to make sure that the underwater vehicle can carry out the prescribed task successfully. For a long time our team has been developing a CFD-based motion simulator with Fuzzy control algorithm. In this paper, firstly motion simulation without control algorithm in still water is given and then motion simulations with distance control and Point-To-Point (PTP) control using Fuzzy control algorithm were described.