Analysis of Velocity Control Algorithms for Biomimetic Robot Fish

As a novel unmanned underwater vehicle (UUV), biomimetic robot fish is able to carry out underwater missions, and more recent interest among scientists in describing it. In this paper, three modes for velocity control of carangiform robot fish are induced, which are velocity control based on oscillation frequency, velocity control based on oscillation amplitude, and velocity control based on the length of oscillation body. Firstly, physical and mathematical models of carangiform fish swimming are introduced. Secondly, each algorithm is described in detail. Thirdly, a prototype of carangiform robot fish and an experiment platform are introduced. Finally, these velocity control algorithms are experimented on the platform, and experiment result shows the performance of each algorithm