Nonlinear tracking control of a nonholonomic fish robot in chained form

The nonlinear tracking control of a nonholonomic fish robot in chained form is addressed. First, a time-varying, smooth Lyapunov-based feedback control law for tracking the nonholonomic fish robot is presented, which gives asymptotical convergence to a desired trajectory generated by a reference fish robot. Second, a time-varying feedback control law with asymptotic stability is achieved to dynamically moor the fish robot to a desired docking position by using the currently popular integrator backstepping method. Simulation results for nonlinear tracking and dynamic mooring control are provided to demonstrate the effectiveness of the proposed control laws.