Mathematical Model of Subcarangiform Robotic Fish

Mathematical modeling of robotic fish creates a simulation environment for the manipulation of design and input parameters without the necessity of manipulating the physical model. Combining two mathematical models, one focusing on pectoral fins and the other concentrated on biomimetic thrust, the authors aim to create a mathematical model to simulate the University of New Hampshire's Ghost Uncrewed Performance Platform Submersible (GUPPS). This model investigates various pectoral fin inputs and their effect on pitch angle, determining maximum operating parameters to maintain biomimicry, and explores system response to high-frequency fin inputs.