Line-of-Sight Strategy-Based Path-Following System for a Multi-Joint Robotic Fish

This paper proposes a real-time path-following control system for a multi-joint robotic fish. The mechanical structure and dynamic model of the robotic fish for pathfollowing are first described. Then, the framework of the path-following control algorithm is established based on the built dynamic model, including a modified line-of-sight (LOS) guidance law, an active disturbance rejection control (ADRC)based heading controller and a proportional-integral-derivative (PID)-based speed controller. Specially, the modified LOS strategy is designed to select the tracking points and also provide the desired heading angle. Afterwards, to overcome systematic uncertainties and environmental disturbances, the ADRC method is adopted to design the heading controller. Meanwhile, the PID controller is also developed to maintain an appropriate swimming speed. Finally, simulations in both linear-and circular-path following are presented to validate the effectiveness of the proposed method.