Course and Depth Control for a Biomimetic Underwater Vehicle - RobCutt-I

This paper presents the design and fabrication of a new type of Biomimetic Underwater Vehicle (BUV) inspired by cuttlefish: the RobCutt-I. The Rob Cutt-I has good maneuverability and can perform multiple motion modes, especially submerging or surfacing vertically in the water. A course controller and a depth controller for the RobCutt-I were proposed based on the Active Disturbance Rejection Control (ADRC) technique. Experiments conducted on the RobCutt-I prototype validated the feasibility and effectiveness of the mechanism and control system. Simulations and experiments conducted on the Rob Cutt-I prototype showed that both the course controller and depth controller give better performance than the PID controller.