This paper describes the modeling and control development of a bio-inspired unmanned underwater vehicle (UUV) propelled by four pectoral fins. Based on both computational fluid dynamics (CFD) and experimental fin data, we develop a UUV model that focuses on an accurate representation of the fin-generated forces. Models of these forces span a range of controllable fin parameters, as well as take into account leading-trailing fin interactions and free stream flow speeds. The vehicle model is validated by comparing open-loop simulated responses with experimentally measured responses to identical fin inputs. Closed-loop control algorithms, which command changes in fin kinematics, are tested on the vehicle. Comparison of experimental and simulation results for various maneuvers validates the fin and vehicle models, and demonstrates the precise maneuvering capabilities enabled by the actively controlled curvature pectoral fins.

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