Research on Active Disturbance Rejection Control of Multi-joint Robot Fish Path Tracking

Abstract

Aiming at the problem that the multi-joint robotic fish is often interfered by the outside world during the path tracking process, a robotic fish based on the auto-disturbance rejection control algorithm is designed. First, analyze the force of the multi-joint robotic fish, build its motion model, design the guidance law of the robotic fish, import the guidance law into the ADRC controller, and use the Expanded State Observer (ESO) for real-time observation to predict the total disturbance. The direction and speed control of the robotic fish is transformed into a typical second-order cascade integral system, and the motion trajectory of the robotic fish is controlled in real time so that it can swim in the expected direction. Finally, simulations prove that the algorithm can enhance the real-time and robustness of the robotic fish path tracking system.