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

Matteo Aureli, Vladislav Kopman, Maurizio Porfiri

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings of the 2010 American Control Conference, ACC 2010
PublisherIEEE Computer Society
Pages6016-6021
Number of pages6
ISBN (Print)9781424474264
DOIs
StatePublished - 2010

Publication series

NameProceedings of the 2010 American Control Conference, ACC 2010

Keywords

  • Biomimetics
  • Ionic Polymer Metal Composites
  • Mechatronics
  • Underwater vehicle

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Aureli, M., Kopman, V., & Porfiri, M. (2010). Control-oriented modeling of Ionic Polymer Metal Composites for biomimetic underwater propulsion. In Proceedings of the 2010 American Control Conference, ACC 2010 (pp. 6016-6021). [5531272] (Proceedings of the 2010 American Control Conference, ACC 2010). IEEE Computer Society. https://doi.org/10.1109/acc.2010.5531272