Modeling and Simulation of an Eel-like Robot with Hybrid Control System

Monitoring, inspection, and intervention tasks in complex underwater environments such as subsea oil pipeline facilities and drilling platforms pose high challenges to the maneuverability and motion capability of autonomous underwater vehicles. Therefore, we have developed an eel-like robot with hybrid control system, which can flexibly and efficiently complete operation tasks in complex underwater environments. An accurate dynamic model is a basis for designing the controller of this robot and searching for its efficient locomotion gaits. In this study, the Euler-Lagrange method is used to derive a dynamic model for the eel-like robot with hybrid control system, which can provide a basis for the subsequent control of such robots. The derived model is easy to implement and simulate, and the simulation results based on the model are provided.