Bionic fish position control with the desired heading angle of the target position

Abstract

This paper proposes an underdriven bionic fish position control system with the desired heading angle at the target position. The developed position control system controls the bionic fish to reach the desired target position while maintaining the heading angle at the target position. The system comprises a virtual waypoint-based line-of-sight (VW-LOS) guidance system, an inner-loop control system, and a linear extended state observer (LESO). First, the VW-LOS system generates a virtual waypoint behind the target position, transforming the bionic fish's position control problem into a straight-line path tracking problem. The heading and speed guidance laws are used to generate the desired heading angle and speed required during the tracking process. An inner-loop controller is subsequently used to regulate the controlled reference, including a heading tracking controller, a speed tracking controller, and a fuzzy inference module that converts forces and moments into inputs to the bionic fish's central pattern generator (CPG) network. Moreover, the LESO estimates the unmeasurable speed and sideslip angle and feeds back to the VW-LOS system and the inner-loop controller. Finally, simulation and experimental results verify the effectiveness of the proposed control system.