Strouhal-Aware Model Predictive Control for Efficient Multi-Fin Flapping Locomotion

arXiv:2607.03216v1 Announce Type: new Abstract: Efficient flapping propulsion hinges on operating within a narrow Strouhal number window, a principle nature has converged upon for maximum thrust-to-power ratio. We translate this bioinspired empirical rule into real-time control, demonstrating it on an autonomous underwater vehicle driven by four soft fins. The proposed Strouhal-aware Model Predictive Control (MPC) enhances a quasi-steady hydrodynamic model with an explicit penalty for Strouhal d...