Control-oriented modeling of Ionic Polymer Metal Composites for biomimetic underwater propulsion

In this paper, we develop a control-oriented model for underwater vehicles propelled by vibrating Ionic Polymer Metal Composites (IPMCs). The time-varying actions exerted by the IPMC on the vehicle body, including thrust, lift, and moment, are estimated by combining force and vibration measurements with reduced order modeling based on modal analysis. The model predictions are validated through experimental results on a miniature remotely-controlled biomimetic underwater vehicle. The proposed model finds application in designing autonomous missions for such vehicles, including controlled interactions with live fish for the purpose of elucidating leadership mechanisms in gregarious fish shoals.