Modeling and Dynamic Control of a Class of Semibiomimetic Robotic Fish

Complexity 2018:1-8 (2018)

This paper proposes a new robotic fish which avoids the complex mechanical structure and reduces the model complexity comparing to the existing bioinspired robotic fish, giving rise to a semibiomimetic robotic fish. The generalized Lagrange equation is adopted to establish the dynamic model of the robotic fish. The controllability of the system is analyzed, upon which a trajectory tracking control algorithm is designed by using the feedback linearization technique. The simulation results show that the dynamic model adopted in this paper can achieve better control performance.
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DOI 10.1155/2018/4657235
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