Abstract

A new type of Biomimetic Underwater Vehicle (RobCutt-I) inspired by cuttlefish was designed and fabricated in this paper. The RobCutt-I has a good maneuverability and can perform multiple motion modes especially can dive or float vertically. A course controller and a depth controller for the RobCutt-I were proposed respectively based on the active disturbance rejection control (ADRC) technique. Experiments conducted on the RobCutt-I prototype validated the feasibility and effectiveness of the mechanism and control system. Step response experiments on the RobCutt-I prototype showed that both the course controller and depth controller have good performance and anti-interference ability.

Keywords:
denote, long fin, depth controller, biomimetic underwater vehicle, mechanism, experiment, course controller, control system, robcutt-i prototype, external disturbance
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2014. International Society of Offshore and Polar Engineers
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