傳統的自主式水下載具是由小型的電動螺槳所推動，但由於小直徑螺槳的推進效率不佳，加上螺槳軸系的摩擦阻力，造成載具的操控、定位效能不佳。為了克服這些困難，吾人模仿魚類外型及推進機構，希望發展出有別於傳統的高操控性載具─仿生型自主式水下載具。
首先，我們建立仿生型自主式水下載具的動態模型。接著透過模型模擬仿生型自主式水下載具的運動。吾人並使用載具座標下的整體機構質心位置推導出一個協調身體各關節角度的控制律，此控制律藉由三個參數控制身體質心位置。根據此控制律，本文最後提出可用以導航此仿生型自主式水下載具之控制系統架構。
本文的主要貢獻為推導出仿生型自主式水下載具的協調控制法則，以三個參數取代眾多關節角度，大幅簡化此等載具控制上的困難度，並且依據此協調控制法則建立一可行之導航控制架構。

Autonomous underwater vehicles (AUVs) have applications in many undersea missions. They are powered by rotary propellers driven by electric motors. But the low efficiency of the small diameter propellers coupled with the large fraction of the hull volume induced positioning, turning and hovering problems. Recently, the development of biomimetic AUVs (BAUVs) is in progress to overcome the problems of traditional AUVs.
A dynamic model of BAUVs being developed at the NTU is presented. This allows us to simulate the dynamic behavior of the BAUVs. We develop a local control law which coordinates joint angles by the use of the position of the center-of-mass in the local coordinate frame. Here we introduce three parameters to define the position of the center-of-mass, and find their effects on the global performance by computer simulations. According to these properties, we then develop the global control law for the navigation problem.
The major contribution of this thesis is the development of a coordinated motion control law for BAUVs. We use three parameters to coordinate the joint angles. And we develop a guidance and control method to control the BAUV under model uncertainties and under external disturbances.

1.Introduction
1.1Biomimetic autonomous underwater vehicles (BAUVs)...1
1.2Statement of purpose…………………………………………2
1.3Thesis organization……..………………………………….3
2.Dynamic Modeling
2.1Dynamics of rigid body………………………………………5
2.2Hydrodynamics………………………………………………...10
2.3The three-segment BAUV system……..…………………...14
3.Coordinated Motion Control
3.1Controller design concept………………………………...17
3.2The local control……………………………………………18
3.3The global control……………………………………………35
4.Simulation Examples
4.1Example 1………………………………………………………38
4.2Example 2………………………………………………………43
4.3Example 3………………………………………………………45
5.Conclusion
5.1Dynamic model…………………………………………………47
5.2Coordinated motion control………………………………..47
5.3Future works…………………………………………………..48
References…………………………………………………………………49

[1]Michael Sfakiotakis, David M. Lane, and J. Bruce C. Davies, “Review of fish swimming modes for aquatic locomotion,” IEEE J. Oceanic Eng., vol. 24, No. 2, April 1999, pp. 237-252.
[2]Graham Bowtell and Thelma L. Williams, “Anguilliform body dynamics: modeling the interaction between muscle activation and body curvature,” Phil. Trans. R. Soc. Lond., B (1991) 334, 385-390.
[3] Ekeberg, “A combined neuronal and mechanical model of fish swimming,” Biol. Cybern. 69, 363-374 (1993).
[4]Richard Mason and Joel W. Burdick, “Experiments in carangiform robotic fish locomotion,” Proceedings of the 2000 IEEE International Conference on Robotic & Automation, April 2000, pp. 428-435.
[5]Scott D. Kelly and Richard M. Murray, “Modeling efficient pisciform swimming for control,” Int. J. Robust Nonlinear Control, 2000; 10:217-241.
[6]Kristi A. Morgansen, Vincent Duindam, Richard J. Mason, Joel W. Burdick and Richard M. Murray, “Nonlinear control methods for planar carangiform robot fish locomotion,” Proceedings of the 2001 IEEE International Conference on Robotics & Automation, May 2001, pp. 427-434.
[7]Naomi Kato, “Control performance in the horizontal plane of a fish robot with mechanical pectoral fins,” IEEE J. Oceanic Eng., vol. 25, No. 1, January 2000, pp. 121-129.
[8]Naomi Kato and Tadahiko Inaba, “Hovering performance of fish robot with apparatus of pectoral fin motion,” the 10th Int. Symp. On UUST, 1997, pp. 177-188.
[9]Robert J. Schilling, Fundamentals of robotics analysis and control, Prentice-Hall International, Inc., 1998.
[10]C. P. Wu, Simulation on the undnlatory locomotion of a flexible slender body, Master thesis, National Taiwan University, 2000.
[11]J.F. Tsai, “Study on the resistance and propulsion performance of biomimetic autonomous underwater vehicles.” Proc. of the Third Conf. On Undersea Technology, 2001