CMBUV: A Composite-Mechanism Bioinspired Underwater Vehicle Integrated With Elasticity and Shear Damping Possesses High-Performance Capability

Wang, Xiaofei; Zhou, Chao; Wang, Jian; Fan, Junfeng; Yin, Zhaoran; Zhu, Chunhui; Deng, Liangwei

doi:10.1109/tiv.2023.3286820

Cited by 4 publications

(2 citation statements)

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“…Through the constant rotation of the driving motor with the transmission mechanical structure, the active joint possesses high-frequency flapping capabilities. Meanwhile, experimental results in [22] have demonstrated that the passive compliant peduncle joint integrated with the composite structure can significantly enhance the efficiency and speed performance of the bionic underwater vehicle in a broad frequency range. On this basis, a switching nonlinear model predictive control strategy with autonomous switching characteristics of the weighting values is proposed.…”

Section: Introductionmentioning

confidence: 99%

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Steering characteristics and path following control of a bionic underwater vehicle with multiple locomotion modes

Wang,

Zhou,

Wang

et al. 2024

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The research on the path following control of the bionic underwater vehicle with high maneuverability and propulsive performance is a crucial issue. This paper investigates the planer path following control task of a bionic underwater vehicle with superior maneuverability. The steering characteristics of the sinusoidal offset and unilateral asymmetric steering signals are analyzed. The experimental results demonstrate that the two signals separately have smaller steering radius and power consumption in the low-frequency and relatively high-frequency range, and are consequently suitable for distinct scenarios. Furthermore, a switching nonlinear model predictive control strategy is proposed, which regulates the state error weighting values according to the real-time yaw angle error. The control strategy realizes autonomous switching of multiple locomotion modes to enhance the swimming speed of the bionic underwater vehicle and fulfills the purpose of improving the task-completing efficiency. The simulation and experimental results indicate that the bionic underwater vehicle achieved 3.49 and 2.92 times enhancement in swimming speed performance at straight and steering target path following control tasks, respectively. The proposed methods as well as obtained results can provide universal inspiration for the multiple motion-based path following control of autonomous underwater vehicles.

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Section: Introductionmentioning

confidence: 99%

“…The deformation generated in the motion procedure can be implemented in the energy storage and release course. Detailed structural parameters can be found in [22].…”

Section: Introductionmentioning

confidence: 99%