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CPG-based control of a turtle-like underwater vehicle

Seo, Keehong and Chung, Soon-Jo and Slotine, Jean-Jacques E. (2010) CPG-based control of a turtle-like underwater vehicle. Autonomous Robots, 28 (3). pp. 247-269. ISSN 0929-5593.

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This paper presents biologically inspired control strategies for an autonomous underwater vehicle (AUV) propelled by flapping fins that resemble the paddle-like forelimbs of a sea turtle. Our proposed framework exploits limit cycle oscillators and diffusive couplings, thereby constructing coupled nonlinear oscillators, similar to the central pattern generators (CPGs) in animal spinal cords. This paper first presents rigorous stability analyses and experimental results of CPG-based control methods with and without actuator feedback to the CPG. In these methods, the CPG module generates synchronized oscillation patterns, which are sent to position-servoed flapping fin actuators as a reference input. In order to overcome the limitation of the open-loop CPG that the synchronization is occurring only between the reference signals, this paper introduces a new single-layered CPG method, where the CPG and the physical layers are combined as a single layer, to ensure the synchronization of the physical actuators in the presence of external disturbances. The key idea is to replace nonlinear oscillators in the conventional CPG models with physical actuators that oscillate due to nonlinear state feedback of the actuator states. Using contraction theory, a relatively new nonlinear stability tool, we show that coupled nonlinear oscillators globally synchronize to a specific pattern that can be stereotyped by an outer-loop controller. Results of experimentation with a turtle-like AUV show the feasibility of the proposed control laws.

Item Type:Article
Related URLs:
URLURL TypeDescription 10.1007/s10514-009-9169-0DOIArticle
Chung, Soon-Jo0000-0002-6657-3907
Additional Information:© 2010 Springer Science+Business Media, LLC. Received: 1 April 2009, Accepted: 17 December 2009, Published online: 22 January 2010. The authors thank Prof. Michael Triantafyllou for allowing them to borrow the robotic turtle developed in his laboratory, as well as Stephen Licht for his extensive help with the implementation and inspiring discussions on the experiments at the MIT Tow Tank. The first author was supported by the Institute for Information Technology Advancement of South Korea. The first and second authors were partially supported by the Air Force Office of Scientific Research (AFOSR), and thank Prof. James Oliver at the Virtual Reality Application Center, Iowa State University.
Funding AgencyGrant Number
Institute for Information Technology Advancement of South KoreaUNSPECIFIED
Air Force Office of Scientific Research (AFOSR)UNSPECIFIED
Subject Keywords:Biomimetic underwater vehicle; Central pattern generator; Synchronization
Issue or Number:3
Record Number:CaltechAUTHORS:20161130-142353121
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Official Citation:Seo, K., Chung, SJ. & Slotine, JJ.E. Auton Robot (2010) 28: 247. doi:10.1007/s10514-009-9169-0
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:72462
Deposited By: Ruth Sustaita
Deposited On:30 Nov 2016 23:16
Last Modified:03 Oct 2019 16:18

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