Inspired by the swimming abilities of marine animals, this theses presents Finnegan the RoboTurtle, an autonomous underwater vehicle (AUV) powered entirely by four flapping foils. Biomimetic actuation is shown to produce dramatic improvements in AUV maneuvering at cruising speeds, while simultaneously allowing for agility at low speeds. Using control algorithms linear in the modified Rodrigues parameters to support large angle maneuvers, the vehicle is successfully controlled in banded and twisting ...
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