An effective tracking control for robotic fish: Implementation and application

Developing an effective tracking controller for the robotic fish is quite difficult because of the limited kinematic motion and the heavy disturbance of water wave. In this paper, to implement the basic pose-to-pose task for the robotic fish, we applied a tracking controller proposed by Kanayama. The detail implementation of the controller is introduced. And experiments conducted in a water tank verify the effectiveness of the controller for the task. Further, The application of the tracking controller in the robotic fish school shed a new light on the research of the collective behaviour.