Comparison of Different Course Controllers of Biomimetic Underwater Vehicle with Two Tail Fins

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


In recent times, we may notice some new designs of underwater vehicles which imitate living underwater organisms, e.g. a fish, a seal. These vehicles are called biomimetic. They are driven by an undulating propulsion, imitating a wavy motion of underwater creatures. The Biomimetic Underwater Vehicles (BUV) is a new control object in an underwater robotics. In the paper, problem of BUV’s course control is taken into account. The classical Proportional–Integral–Derivative (PID) and Slide Mode (SM) controllers are compared. The settings of the controllers are tuned using three different optimization methods: the Genetic Algorithm (GA), the Particle Swarm Optimization (PSO) and the Pareto Search Algorithm (PSA). The research has been conducted using the mathematical model of mini CyberSeal driven by two side and two tail fins.


Biomimetic Underwater Vehicle Course control Genetic Algorithm Particle Swarm Optimization Pareto Search Algorithm 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Naval AutomaticsPolish Naval AcademyGdyniaPoland

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