Nonlinear H<inf>∞</inf> Guidance and Control for Fish-Robot

Abstract

Nonlinear equations of motion for fish-robot have been derived based on two basic behaviors, swimming and orientating. By incorporating the fish-tail mechanism and autonomous underwater vehicle-like dynamics model, the fish robot motion and maneuverability are developed in earth-fixed frame motion. A nonlinear H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> robust controller for swimming, orientating, and tracking control of the fish robot is developed. Simulation results demonstrate excellent maneuverability and tracking performance of the fish-robot in two-dimension motion, which shows effect of the nonlinear H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> robust control against ocean's current turbulence.