Biology-Inspired Adaptive and Nonlinear Robust Control of BAUV Using Pectoral-Like Fins

Aquatic animals have splendid ability to move smoothly through water using variety of oscillating fins. Presently researchers are involved in developing biorobotic autonomous underwater vehicles (BAUVs) which have the ability to swim like marine animals. Multiple oscillating fins (dorsal, caudal, pectoral, pelvic, etc.) can be mounted on BAUVs to generate control forces for propulsion and maneuvering. In this research work, control of the BAUVs using pectoral fins alone is considered. The oscillating pectoral fins produce unsteady periodic forces. The control of motion of an BAUV in yaw and dive planes are considered