Artificial Fishtail

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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:

$\begin{array}{rl}M\ddot{x}(t)+E\dot{x}(t)+Kx(t)& =Bu(t)\\ y(t)& =Cx(t)\end{array}$

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 $N=779232$ and $M=1$.

System variants:

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