Characterization and Modeling of Rotational Responses for an Oscillating Foil Underwater Robot

Abstract

In order to better understand the behavior of the underwater robot developed at our laboratory, a simple but relatively good model of the underwater behavior of the robot had to be developed. In order to be useful for model-based control techniques onboard the robot, the model had to have low computing requirements, yet be complex enough to capture the transient response of the robot. To achieve this, a system identification approach was taken by first capturing the robot response to various inputs, and then matching them to a simple model