In this study, analytical techniques and fuzzy\r\nlogic methods are applied to the dynamic modelling and\r\nefficient swimming control of a biomimetic robotic fish,\r\nwhich is actuated by an ionic polymer-metal composite\r\n(IPMC). A physical-based model for the biomimetic\r\nrobotic fish is proposed. The model incorporates both the\r\nhydrodynamics of the IPMC tail and the actuation\r\ndynamics of the IPMC. The comparison of the results of\r\nthe simulations and experiments shows the feasibility of\r\nthe dynamic model. By using this model, we found that\r\nthe harmonic control of the actuation frequency and\r\nvoltage amplitude of the IPMC is a principal mechanism\r\nthrough which the robotic fish can obtain high thrust\r\nefficiency while swimming. The fuzzy control method,\r\nwhich is based on the knowledge of the IPMC fish�s\r\ndynamic behaviour, successfully utilized this principal\r\nmechanism. By comparing the thrust performance of the\r\nrobotic fish with other control methods via simulation,\r\nwe established that the fuzzy controller was able to\r\nachieve faster acceleration compared with what could be\r\nachieved with a conventional PID controller. The thrust\r\nefficiency during a steady state was superior to that with\r\nconventional control methods. We also found that when\r\nusing the fuzzy control method the robotic fish can\r\nalways swim near a higher actuation frequency, which\r\ncould obtain both the desired speed and high thrust\r\nefficiency.
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