Motion Control Algorithms for a Free-swimming Biomimetic Robot Fish 1)

Abstract

A practical motion control strategy for a radio-controlled, 4-link and free-swimming biomimetic robot fish is presented. Based on control performance of the fish the fish 0 s motion control task is decomposed into on-line speed control and orientation control. The speed control algorithm is implemented by using piecewise control, and orientation control is realized by fuzzy logic. Combining with step control and fuzzy control, a point-to-point (PTP) control algorithm is proposed and applied to the closed-loop experimental system that uses a vision-based position sensing subsystem to provide feedback. Experiments confirm the reliability and effectiveness of the presented algorithms.