The Motion Control And Application Of The Bio-mimetic Robotic Fish

The21st century is the one of ocean development. The underwater robots havebroad application prospect and huge potential value in research in marine environment,marine resources exploration and development, and marine military, and attract moreand more people’s attention. Therefore, the study on motion tracking control ofbiomimetic robotic fish is an important research direction. However, considering thecomplexity of where biomimetic robotic fish works, and the nonlinear characteristicsof biomimetic robotic fish control model, the common control methods are difficult tobe applied on the biomimetic robotic fish directly. As a result, the biomimetic roboticfish motion tracking control is an extremely challenging research topic.This thesis first introduces the background and current situation of the biomimeticrobotic fish. According to the current domestic and foreign studies of biomimeticrobotic fish characteristics and the main research contents, the relevant research planis carried out.Secondly the control system structure of the biomimetic robotic fish is introduced,and on the basis of the working principle of the control system of biomimetic roboticfish, the hardware platform and software development platform of biomimetic roboticfish are briefly expounded.The stability of the trajectory tracking problem of biomimetic robotic fish bysliding mode variable structure control is then introduced. Moreover the dynamicwindow method to control the trajectories of biomimetic robotic fish is also putforward, and tested on water environment.The final part is the application design of the biomimetic robotic fish. Accordingto the relevant knowledge, as well as the existing relevant control technology ofbiomimetic robotic fish, a small submarine based on the wireless video monitoringsystem in water is designed.