Data-driven modeling for superficial hydrodynamic pressure variations of two swimming robotic fish with leader-follower formation

In this article, a theoretical model describing the superficial hydrodynamic pressure variations (HPVs) of two adjacent robotic fish with leader-follower formation is established based on Bernoulli equation. Model parameters are identified by measured HPVs data and yawing rate data in experiments, based on multiple linear regression method. The HPVs data are measured by pressure sensor arrays based artificial lateral line system, and the yawing rate data are measured by attitude and heading reference system of the robotic fish. Errors between the measured superficial HPVs and the HPVs estimated by the established model are analyzed in detail. And it demonstrates that the established model has perfect performance in describing the superficial HPVs, with small errors. This article contributes to modeling of flow variations caused by free motions of underwater vehicle, which is always a challenge. The established model has the potentials of providing guidance for flow-aided control of underwater vehicle.