Orientation Control and Target Tracking for Bionic Robotic Fish Based on ADRC

摘要

This study develops the modeling and closed-loop control strategy of a bionic robotic fish. First, assisted by computational fluid dynamics (CFD) analysis results, the hydrodynamic functions of the caudal fin during straight-ahead and turning locomotion are established and thus the dynamic and kinematic model accuracy is improved. Second, an active disturbance rejection control (ADRC) is applied to achieve the closed-loop control of 2-dimensional locomotion of the robot including speed control and orientation control, serving its intended purpose of coping with the complex underwater disturbance in the real environment. Then the simulation results demonstrate maneuverability and the anti-interference capability of the proposed controller. Finally, experiments including orientation control and target tracking control are designed to verify the performance of the practice.