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Article
The Optimal Control of a Flexible Hull Robotic Undersea Vehicle Propelled by an Oscillating Foil
1990-1999
  • David Barrett, Franklin W. Olin College of Engineering
  • Mark Grosenbaugh, Woods Hole Oceanographic Institution
  • Michael Triantafyllou, Massachusetts Institute of Technology
Document Type
Conference Proceeding
Publication Date
6-1-1996
Disciplines
Abstract
Determining the optimal swimming motion for a flexible hull robotic undersea vehicle propelled by an oscillating foil is an acutely complex problem involving the vehicle's body kinematics and the hydrodynamics of the surrounding water. The overall intractability of the hydrodynamics of a flexible body precludes a purely analytical solution. The immense size of the experimental variable space prevents a purely empirical one. In order to overcome both difficulties, we have developed a self-optimizing motion controller based on a genetic algorithm. This controller effectively uses evolutionary principles to exponentially optimize swimming performance.
Comments

© 1996 IEEE. This article was published in the Proceedings of the 1996 Symposium on Autonomous Underwater Vehicle Technology, pp. 1-9 and may be found here.

Citation Information
David Barrett, Mark Grosenbaugh and Michael Triantafyllou. "The Optimal Control of a Flexible Hull Robotic Undersea Vehicle Propelled by an Oscillating Foil" (1996)
Available at: http://works.bepress.com/david_barrett/4/