Nonlinear Control and Bioinspired Underwater
Vehicle Systems
Kristi A. Morgansen
Assistant Professor
Department of Aeronautics and Astronautics
University of Washington
Seattle, WA
Underwater locomotion and propulsion for underwater vehicles provide
rich applications for the development of control methods for nonlinear
systems and underactuated mechanical systems. In the work here, the
tasks of modeling and control for agile gait generation for robots
built with fin propulsive and maneuvering surfaces are considered.
Previous work for such bioinspired devices has shown that simplified
models with quasistatic lift and drag can be used to construct
trajectory tracking controls for forward and turning motions that
strongly resemble biomimetic motions. Here we will evaluate the use
of such models for agile maneuverability by comparing biomimetic fast
start and snap turn data from experiment with simulation data from the
model.
Beyond single-vehicle applications, a number of current science
applications indicate the need for operation of multivehicle groups
composed of different types of vehicles operating in different media
(air, water, space). Recent work in coordinated control of vehicle
systems has shown that earlier studies in mathematics, physics, and
chemistry with models of interconnected oscillators can be used to
construct controls for coordinated vehicles. Additionally these
oscillator models have been demonstrated to have direct connection to
Frenet-Serret models of dynamics for nonholonomic systems (e.g. ground
vehicles, fixed-wing aircraft, and underwater vehicles). The work
presented here will address the construction of controls for
oscilator-based analysis that allow a group of vehicles to track a
moving target. Further, when these models are considered in a discrete
time setting, effects of intermittent, dynamic and asynchronous
communication can be incorporated into the dynamics. Stability bounds
for particular group modes of behavior (identical heading or common
point of rotation) can then be determined in the context of limited
communication. Results are demonstrated in simulation and experiment
with applications drawn from the engineering contexts of autonomous
air and underwater vehicles as well as the biological context of
schooling fish.
Beyond single-vehicle applications, a number of current science
applications indicate the need for operation of multivehicle groups
composed of different types of vehicles operating in different media
(air, water, space). Further, such systems are needed to operate with
variable levels of autonomy and human interaction. Recent work in
coordinated control of vehicle systems has shown that earlier studies
in mathematics, physics, and chemistry with models of interconnected
oscillators can be used to construct controls for coordinated
vehicles. Additionally these oscillator models have been demonstrated
to have direct connection to Frenet-Serret models of dynamics for
nonholonomic systems (e.g. ground vehicles, fixed-wing aircraft, and
underwater vehicles). The work presented here will address the
construction of controls for oscillator-based analysis that allow a
group of vehicles to track a moving target. Further, when these models
are considered in a discrete time setting, effects of intermittent,
dynamic and asynchronous communication can be incorporated into the
dynamics. Stability bounds for particular group modes of behavior
(identical heading or common point of rotation) can then be determined
in the context of limited communication. Results are demonstrated in
simulation and experiment with applications drawn from the engineering
contexts of autonomous air and underwater vehicles as well as the
biological context of schooling fish.
Wednesday, April 9, 2008
3:30 PM
Seaver Science Library, Room 150 (SSL 150)
Refreshments will be served at 3:15 pm.
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