TRAJECTORY CONTROL OF A 3 DOF MICRO UNDERWATER VEHICLE INSPIRED BY SHARK MOVEMENT

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MAYAHI A.; YOUSEFI KOMA A.; RANGINKAMAN A.; MALEKI H.

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Paper Information

Journal: Year:2009 | Volume:43 | Issue:4 (123 SPECIAL ISSUE ON: MECHANINCAL ENGINEERING) Page(s): 555-565

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Information Journal Paper

Title

TRAJECTORY CONTROL OF A 3 DOF MICRO UNDERWATER VEHICLE INSPIRED BY SHARK MOVEMENT

Author(s)

MAYAHI A. | YOUSEFI KOMA A. | RANGINKAMAN A. | MALEKI H. | Issue Writer Certificate

Keywords

AUTONOMOUS CONTROLQ3

UNDERWATER VEHICLEQ3

FISH ROBOTQ3

PIDQ3

MODELINGQ3

Abstract

An autonomous UNDERWATER VEHICLE (AUV) with less noise and vortices as well as efficient power consumption, is pursued in this research by inspiration of shark swimming. Design, hydrodynamic analysis, MODELING, fabrication, navigation, and control of this novel AUV is the main goal of this research. Detailed explanation of the test and experiment with a brief overview on fabrication are provided. The transfer function of the system has been extracted from the experimental data. The transfer function is then employed for dynamic analysis and control system development. Zigler-Nickols method is used to predetermine the PID control coefficients. Consequently, small modifications have been done by trial and error. Trajectory control in a 10 cm off the wall and in a 20 cm band in a large swimming pool has been examined by a 3 DOF AUV.

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APA: Copy

MAYAHI, A., YOUSEFI KOMA, A., RANGINKAMAN, A., & MALEKI, H.. (2009). TRAJECTORY CONTROL OF A 3 DOF MICRO UNDERWATER VEHICLE INSPIRED BY SHARK MOVEMENT. JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TEHRAN), 43(4 (123 SPECIAL ISSUE ON: MECHANINCAL ENGINEERING)), 555-565. SID. https://sid.ir/paper/14201/en

Vancouver: Copy

MAYAHI A., YOUSEFI KOMA A., RANGINKAMAN A., MALEKI H.. TRAJECTORY CONTROL OF A 3 DOF MICRO UNDERWATER VEHICLE INSPIRED BY SHARK MOVEMENT. JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TEHRAN)[Internet]. 2009;43(4 (123 SPECIAL ISSUE ON: MECHANINCAL ENGINEERING)):555-565. Available from: https://sid.ir/paper/14201/en

IEEE: Copy

A. MAYAHI, A. YOUSEFI KOMA, A. RANGINKAMAN, and H. MALEKI, “TRAJECTORY CONTROL OF A 3 DOF MICRO UNDERWATER VEHICLE INSPIRED BY SHARK MOVEMENT,” JOURNAL OF FACULTY OF ENGINEERING (UNIVERSITY OF TEHRAN), vol. 43, no. 4 (123 SPECIAL ISSUE ON: MECHANINCAL ENGINEERING), pp. 555–565, 2009, [Online]. Available: https://sid.ir/paper/14201/en

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