... helpful to control the heading of BUVs at a certain swimming speed. experiment controller decision control unit fin disturbance buv frequency artificial intelligence control scheme wang propulsor fuzzy strategy bilateral fin undulatory fin fuzzy logic long fin membership function...

... the course controller and depth controller have good performance and anti-interference ability. denote long fin depth controller biomimetic underwater vehicle mechanism experiment course controller control system robcutt-i prototype external disturbance control signal artificial...