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

Matteo Aureli; Vladislav Kopman; Maurizio Porfiri

doi:10.1109/acc.2010.5531272

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

Matteo Aureli, Vladislav Kopman, Maurizio Porfiri

Mechanical and Aerospace Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English (US)
Title of host publication	Proceedings of the 2010 American Control Conference, ACC 2010
Publisher	IEEE Computer Society
Pages	6016-6021
Number of pages	6
ISBN (Print)	9781424474264
DOIs	https://doi.org/10.1109/acc.2010.5531272
State	Published - 2010

Publication series

Name	Proceedings 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

Access to Document

10.1109/acc.2010.5531272

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). Article 5531272 (Proceedings of the 2010 American Control Conference, ACC 2010). IEEE Computer Society. https://doi.org/10.1109/acc.2010.5531272

Control-oriented modeling of Ionic Polymer Metal Composites for biomimetic underwater propulsion. / Aureli, Matteo; Kopman, Vladislav; Porfiri, Maurizio.
Proceedings of the 2010 American Control Conference, ACC 2010. IEEE Computer Society, 2010. p. 6016-6021 5531272 (Proceedings of the 2010 American Control Conference, ACC 2010).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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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.",

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N2 - 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.

AB - 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.

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

Abstract

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Keywords

ASJC Scopus subject areas

Access to Document

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