Control performance of fish robot with pectoral fins in horizontal plane

This paper deals with: 1) the guidance and control of a fish robot equipped with a pair of pectoral fin motion devices on both sides of the robot in horizontal plane; and 2) numerical simulation of unsteady flow around a flexible fin. The fish robot consisting of a fish body model and a pair of pectoral fin motion devices has high performance of manoeuvrability such as turning in the same position. The use of fuzzy control enables the fish robot perform rendezvous and docking with an underwater post in a water current. The flexible fin makes it possible to increase the thrust efficiency compared with rigid fin.