Artificial Fishtail

Note: This page has not been verified by our editors.

Description

Todays autonomous underwater vehicles (AUVs) are subject to noise polution and inefficiency due to their propulsion-driven design. The evolution of fish has, on the other hand optimized their underwater efficiency and agility over millenia. The adaption of fish-like drive systems for AUVs is therefore an obvious choice.

Dimensions

System structure:

$\begin{align} M \ddot{x}(t) + E \dot{x}(t) + K x(t) &= B u(t) \\ y(t) &= C x(t) \end{align}$

System dimensions:

$M \in \mathbb{R}^{N \times N}$, $E \in \mathbb{R}^{N \times N}$, $K \in \mathbb{R}^{N \times N}$, $B \in \mathbb{R}^{N \times M}$, $C \in \mathbb{R}^{P \times N}$, with $N=779\,232$ and $M=1$.

System variants:

• $P = 3$: $C=$Cp in the data files,
• $P = 21$: $C=$Cp_ext in the data files.