@inproceedings{f8b46f64b49e46f9bc1dd7abba387907,
title = "CFD-FSI Analysis on Motion Control of Bio-Inspired Underwater AUV System Utilizing PID Control",
abstract = "For the design of a bio-inspired, fish-like robot with caudal fin, a Fluid Structure Interaction (FSI) analysis has been conducted to investigate the influence of material properties and undulation kinematics on hydrodynamic performance and efficiency. This supports the design process with focus on practical prototype build up. ",
keywords = "Bio-inspired AUV, Caudal fin, CFD-FSI simulation, PID control",
author = "Marvin Wright and Yang Luo and Qing Xiao and Mark Post and Wael Gorma and Andrew Durrant and Hong Yue",
note = "Funding Information: As part of the EPSRC SuperGen ORE funded project ³AXWonomoXV BiomimeWic RoboW-fish for Offshore Wind FaUm InVpecWion´, a caXdal fin ZaV deVigned for a vertebrae structure bio-inVpiUed AUV named ³RoboFiVh´. Directly attaching the caudal fin to an actuated joint facilitates active control, which makes it possible to optimize the interaction between the body and tail to enhance the propulsion performance. The detailed investigation of the caudal fin is motivated by the high importance to the overall design of manoeuvrability and thrust generation. In [1] Kelasidi et al. present significant thrust improvement and potential power savings provided by a passive caudal fin. The benefits of an actively controlled rigid caudal fin are also investigated in [2]. An experimental investigation of a rainbow trout inspired caudal fin actuated at the leading edge (LE) in pitch direction is published in [3]. Funding Information: VII. ACKNOWLEDGEMENT This research was made possible by an EPSRC Supergen ORE Hub Flexible Fund Program Grant {"}Autonomous Biomimetic Robot-fish for Offshore Wind Farm Inspection{"} EPSRC grant number EP/S000747/1. The Authors acknowledge the additional generous support provided by PicSea Ltd, East Coast Oil and Gas Engineering Ltd, and the UK Offshore Renewable Energy Catapult. The support of the White Rose Collaboration Fund is also acknowledged for bringing together expertise from the Universities of Leeds, Sheffield, and York that directly benefits this project and future AUVs. Publisher Copyright: {\textcopyright} 2020 IEEE.; 2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020 ; Conference date: 30-09-2020 Through 02-10-2020",
year = "2020",
month = sep,
day = "30",
doi = "10.1109/AUV50043.2020.9267933",
language = "English",
series = "2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020",
publisher = "Institute of Electrical and Electronics Engineers (IEEE)",
booktitle = "2020 IEEE/OES Autonomous Underwater Vehicles Symposium, AUV 2020",
address = "United States",
}