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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2024  > In Press, Accepted Manuscript
D. Li, J. Huang, R. Law, X. Xu, L. Zhu, and E. Wu, “Interference suppression and jitter elimination ability-based adaption tracking guidance for robotic fishes,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 12, pp. 1–12, Dec. 2024. doi: 10.1109/JAS.2024.124632
Citation: D. Li, J. Huang, R. Law, X. Xu, L. Zhu, and E. Wu, “Interference suppression and jitter elimination ability-based adaption tracking guidance for robotic fishes,” IEEE/CAA J. Autom. Sinica, vol. 11, no. 12, pp. 1–12, Dec. 2024. doi: 10.1109/JAS.2024.124632
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Interference Suppression and Jitter Elimination Ability-Based Adaption Tracking Guidance for Robotic Fishes

doi: 10.1109/JAS.2024.124632
Funds:  In this work, Zeng Linlin demonstrated extraordinary abilities and wisdom in the experiment, and his outstanding achievements played a crucial role in advancing the entire research
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    Abstract
  • This work presents an adaptive tracking guidance method for robotic fishes. The scheme enables robots to suppress external interference and eliminate motion jitter. An adaptive integral surge line-of-sight guidance rule is designed to eliminate dynamics interference and sideslip issues. Limited-time yaw and surge speed observers are reported to fit disturbance variables in the model. The approximation values can compensate for the system’s control input and improve the robots’ tracking accuracy. Moreover, this work develops a terminal sliding mode controller and third-order differential processor to determine the rotational torque and reduce the robots’ run jitter. Then, Lyapunov’s theory proves the uniform ultimate boundedness of the proposed method. Simulation and physical experiments confirm that the technology improves the tracking error convergence speed and stability of robotic fishes.

     

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