Trajectory tracking control of four-jointed robotic fish based on Udwadia-Kalaba theory

Abstract

Abstract To improve the trajectory tracking control of the robotic fish driven by four-joint tail fins, the paper has established the dynamic model of four-joint tail fins on Udwadia-Kalaba theory and designed a sliding mode controller for trajectory tracking. Meanwhile, the stability of the robotic fish has been analyzed and discussed. A comparative study of the sliding mode controller and PID controller has been conducted on numerical simulation experiments. The results show the effectiveness and accuracy of the proposed control strategy. Compared with the PID controller, the sliding mode controller can converge to the desired value relatively quickly.