MODEL-BASED BIOMORPHIC UNDERWADER ROBOTS SYSTEM CONTROL DESIGN

Currently, the field of underwater robotics is actively developing to solve applied and researchproblems. One of the promising areas of underwater robots’ application is the implementation ofbioinspired type of swimming. The use of autonomous bioinspired underwater vehicles (BUV) will potentiallyexpand the scope of application of low-noise and safe for local fauna underwater robots for monitoringand exploring the terrain. The aim of the work is to develop and test a methodology for model-baseddesign of a motion control system for biomorphic underwater robots. In this work a typical BUV designwith oscillatory type of swimming is considered. Problematic issues of modeling the BUV dynamics, aswell as the synthesis of their control systems are described. For BUVs with oscillatory types of swimming,typical technological operations are identified. Typical technological operations are chosen based on thedesign features of the BUVs and the composition of their propulsion and steering complex. A control systemdesign methodology based on the combined use of numerical modeling technologies and classicalautomatic control theory is proposed. Based on the proposed methodology, numerical hydrodynamicBUV’s models with oscillatory types of swimming are developed. Identification computational experimentsare conducted. The transient processes which characterize BUV’s dynamics during the performance ofeach typical operation are defined. Based on the simulation results, cybernetic simplified models of BUV’sbased on the typical blocks of the automatic control theory are developed. Based on the cybernetic models,based on the numerical optimization a synthesis of BUV’s control system in accordance with the proposedmethodology is performed. The developed algorithms are tested based on numerical hydrodynamic simulationresults. Possible prospects for the use of the BUV’s are formulated.