Control system design and simulation for bionic undulating fin

Bionic undulating fin is a new bionic underwater propulsor based on propulsive mode of undulating fin which has high propulsive efficiency, maneuverability and stability. The structure and locomotive model of the bionic undulating fin system were analyzed, and a control system which fits several undulating modes was put forward in this paper. Locomotion simulation was done based on the Matlab/Simulink model. Results indicate that the control system can response to multiple undulating modes and locomotive parameters accurately, thus gets the desired waves.