Automatic alignment of underwater snake robots operating in wakes of bluff bodies
Orucevic, Amer; Wrzos-Kaminska, Marianna; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy
Journal article, Peer reviewed
Published version
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https://hdl.handle.net/11250/3152130Utgivelsesdato
2024Metadata
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Sammendrag
This paper presents the development of controllers to automatically align an underwater snake robot (USR) with a wake that forms behind a bluff body, while swimming at a desired distance to the object. The low-level controllers stabilize the joint motion of the USR to a swimming gait while achieving a desired orientation and tangential velocity. The high-level controllers are designed to select references for the orientation and tangential velocity to achieve a desired placement and alignment. The control system is analyzed and proven uniformly practically asymptotically stable (UPAS). The proposed control method is validated through high-fidelity simulations that capture the intricate interaction between the USR and the surrounding fluid, and is seen to perform well in these simulations.