Abstract
In recent times, we may notice some new designs of underwater vehicles which imitate living underwater organisms, e.g. a fish, a seal. These vehicles are called biomimetic. They are driven by an undulating propulsion, imitating a wavy motion of underwater creatures. The Biomimetic Underwater Vehicles (BUV) is a new control object in an underwater robotics. In the paper, problem of BUV’s course control is taken into account. The classical Proportional–Integral–Derivative (PID) and Slide Mode (SM) controllers are compared. The settings of the controllers are tuned using three different optimization methods: the Genetic Algorithm (GA), the Particle Swarm Optimization (PSO) and the Pareto Search Algorithm (PSA). The research has been conducted using the mathematical model of mini CyberSeal driven by two side and two tail fins.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Colgate, J.E., Lynch, K.M.: Mechanics and control of swimming: a review. IEEE J. Oceanic Eng. 29(3), 660–673 (2004)
Custódio, A.L., Madeira, J.F.A., Vaz, A.I.F., Vicente, L.N.: Direct multisearch for multiobjective optimization. SIAM J. Optim. 21(3), 1109–1140 (2011)
Fossen, T.: Handbook of Marine Craft Hydrodynamics and Motion Control. Wiley, Hoboken (2011)
Goldberg, D.E.: Genetic Algorithms in Search, Optimization and Machine Learning. Addison Wesley, Massachusetts (1989)
Low, K.H.: Modelling and parametric study of modular undulating fin raysfor fish robots. Mech. Mach. Theory 44, 615–632 (2009)
Mathworks: Matlab documentation. https://www.mathworks.com/help/matlab/
Malec, M., Morawski, M., Szymak, P., Trzmiel, A.: Analysis of parameters of traveling wave impact on the speed of biomimetic underwater vehicle. Solid State Phenomena 210, 273–279 (2014)
Morawski, M., Słota, A., Zając, J., Malec, M., Krupa, K.: Hardware and low-level control of biomimetic underwater vehicle designed to perform ISR tasks. J. Mar. Eng. Technol. 16(4), 227–237 (2017). https://doi.org/10.1080/20464177.2017.1387089
Pedersen, M.E.: Good parameters for particle swarm optimization. Hvass Laboratories, Luxembourg (2010)
Przybylski, M.: Mathematical model of biomimetic underwater vehicle. In: Proceedings of the 33rd International ECMS Conference on Modelling and Simulation, Italy, Caserta, vol. 33, no. 1, pp. 343–350 (2019)
Przybylski, M., Szymak, P.: Verification of the mathematical model of the biomimetic underwater vehicle. In: ModTech2020 International Conference on Modern Technologies in Industrial Engineering, Romania, Eforie Nord (2020, in press)
Shi, Y., Eberhart, R.C.: A modified particle swarm optimizer. In: Proceedings of IEEE International Conference on Evolutionary Computation, pp. 69–73 (1998)
Szymak, P., Praczyk, T., Pietrukaniec, L., Hożyń, S.: Laboratory stand for research on mini CyberSeal. Meas. Autom. Monit. 63(7), 228–233 (2017)
Szymak, P.: Mathematical model of underwater vehicle with undulating propulsion. In: Third International Conference on Mathematics and Computers in Sciences and in Industry MCSI 2016, Greece, Chania, pp. 269–274 (2016)
Szymak, P., Piskur, P.: Using particle swarm optimization for tuning course controller of biomimetic underwater vehicle. In: 8th International Maritime Science Conference, pp. 255–262. University of Montenegro, Budva (2019)
Zhou, C., Low, K.H.: Design and locomotion control of a biomimetic underwater vehicle with fin propulsion. IEEE-ASME Trans. Mechatron. 17, 25–35 (2019). https://doi.org/10.1109/TMECH.2011.2175004
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Switzerland AG
About this paper
Cite this paper
Przybylski, M., Szymak, P., Kitowski, Z., Piskur, P. (2020). Comparison of Different Course Controllers of Biomimetic Underwater Vehicle with Two Tail Fins. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_125
Download citation
DOI: https://doi.org/10.1007/978-3-030-50936-1_125
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-50935-4
Online ISBN: 978-3-030-50936-1
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)