Mathematical Model of Underwater Vehicle with Undulating Propulsion

In recent times, we may notice some new designs of underwater vehicles, which imitate living underwater organisms, e.g. a fish. These vehicles are called biomimetic. They are driven by undulating propulsion, imitating wavy motion of fins. In the paper, problem of mathematical modeling of underwater vehicle with undulating propulsion is undertaken. This model can be used, e.g. for initial tuning of control system of new underwater vehicles.