Gravitational waves (GWs) offer an unprecedented opportunity to survey the sky and detect mergers of compact objects. While intermediate-mass black holes (IMBHs) have not been detected beyond any reasonable doubt with either dynamical or accretion signatures, the GW landscape appears very promising. Mergers of an IMBH with a supermassive black hole (SMBH) will be primary sources for the planned space-based mission LISA and could be observed up to the distant Universe. SMBH-IMBH binaries can be formed as a result of the migration and merger of stellar clusters at the center of galaxies, where an SMBH lurks. We build for the first time a semi-analytical framework to model this scenario, and find that the the comoving merger rate of SMBH-IMBH binaries is \(\sim 10^{-3}\) Gpc\(^{-3}\) yr\(^{-1}\) in the local Universe for a unity IMBH occupation fraction, scales linearly with it, and has a peak at \(z\approx 0.5\)-\(3\). Our model predicts \(\sim 1\) event yr\(^{-1}\) within redshift \(z\approx 3.5\) if \(10\%\) of the inspiralled star clusters hosted an IMBH, while \(\sim 10\) events yr\(^{-1}\) for a unity occupation fraction. More than \(90\%\) of these systems will be detectable with LISA with a signal-to-noise ratio larger than \(10\), promising to potentially find a family of IMBHs.