Motion control architecture of a 4-fin U-CAT AUV using DOF prioritization


This paper demonstrates a novel motion control approach for biomimetic underwater vehicles with pitching fins. Even though these vehicles are highly maneuverable, the actuation of their different degrees of freedom (DOFs) is strongly coupled. To address this problem, we propose to use smooth DOF prioritization depending on which maneuver the vehicle is… (More)
DOI: 10.1109/IROS.2016.7759218


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