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We present a method of locomotion control for underwater vehicles which are propelled by a periodic deformation of the vehicle body, similar to the way a fish moves. The control law employs extremum seeking, which is a non-model based method that has been used recently in ldquosource seekingrdquo control for nonholonomic mobile robots. In this paper we present a design for a fish model consisting...
We continue with the study of fish-like underwater source seeking initiated in a companion paper where we considered a three-rigid-link fish model. In this paper we consider a more realistic fish model based on a Joukowski airfoil which has only one degree of freedom in its movement, and thus relies on vortex shedding to move through a perfect fluid. Both the propulsion problem and the source seeking...
In this paper, we present a method of locomotion control for underwater vehicles that are propelled by a periodic deformation of the vehicle body, which is similar to the way a fish moves. We have developed control laws employing ldquoextremum seekingrdquo for two different ldquofishrdquo models. The first model consists of three rigid body links and relies on a 2-degree-of-freedom (DOF) movement...
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