Research on Horizontal Path Tracking Control of a Biomimetic Robotic Fish

摘要

The bionic robot fish has the characteristics of high mobility, high concealment, high efficiency and low noise, which can play an important role in military strategy and underwater detection. In view of the complicated underwater environment and the influence of uncertain factors, the active disturbance rejection controller (ADRC) can automatically compensate the internal disturbance and external disturbance of the controlled object model, and improve the control accuracy and stability of the robotic fish path tracking. In this paper, the robot fish model is firstly established based on the kinematics and nonlinear rigid body dynamics of the bionic robot fish, and then the path tracking controller of the robot fish based on ADRC is designed. By introducing the tracking error equation and expected angle function in the Serret-Frenet coordinate system, the stabilization problem of the position error of the robot fish is transformed into the stabilization problem of the speed and course. Then the robot fish path tracking guidance function is designed and parameters are set based on ADRC controller. Simulation results show that the designed controller has high precision and strong robustness.