Nonlinear H∞ Guidance and Control for Fish-Robot

Nonlinear equations of motion for fish-robot have been derived based on two basic behaviors, swimming and orientating. By incorporating the fish-tail mechanism and autonomous underwater vehicle-like dynamics model, the fish robot motion and maneuverability are developed in earth-fixed frame motion. A nonlinear H_∞ robust controller for swimming, orientating, and tracking control of the fish robot is developed. Simulation results demonstrate excellent maneuverability and tracking performance of the fish-robot in two-dimension motion, which shows effect of the nonlinear H_∞ robust control against ocean´s current turbulence.