Study on velocity control of gymnotiform undulating fin module

Abstract

Inspired by the fish swimming motion of gymnotiform type, an undulating fin module has been developed in the effort to replace the traditional propulsion system of autonomous underwater vehicles. Base on the modelling of force generated in the undulating process of gymnotiform undulating fin module, the force has the non-linear relationship with frequency and velocity of the fin. This paper proposes an estimated function of force generated and design a back stepping sliding mode model for velocity control of gymnotiform undulating fin module.