Theoretical guarantees of capture become complicated in the case of a swimming fish or fish robot because of the oscillatory nature of the fish heading. Building on the connection between a swimming fish and the canonical Chaplygin sleigh, a novel state feedback control law is shown to result in closed-loop dynamics that exhibit a limit cycle resulting in steady forward-swimming motion in a desired heading. Analysis of this limit cycle reveals boundaries on the size of the oscillations around the desired heading, which are then used to specify under what conditions (e.g. prey speed, predator speed, control gains) capture is guaranteed. By changing the desired swimming direction in response to prey movements, the control law is shown to be capable of pure pursuit, deviated pure pursuit, intercept, and parallel navigation in simulation. An experimental demonstration of pure pursuit by a flexible fish-inspired robot actuated with an internal reaction wheel is described.

中文翻译：

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使用内置转子的反馈控制的游泳机器人进行生物启发的追赶。

对于游动的鱼类或鱼类机器人，捕捞的理论保证变得复杂，这是因为鱼类前进的振荡特性。建立在游动的鱼和规范的查普利金雪橇之间的联系上，新的状态反馈控制定律显示出闭环动力学，该动力学表现出极限循环，从而在所需航向中产生稳定的向前游泳运动。对该极限周期的分析揭示了所需航向周围的振荡大小的边界，然后将其用于指定在什么条件下（例如，猎物速度，捕食者速度，控制增益）可以确保捕获。通过响应于猎物的运动而改变期望的游泳方向，控制律在仿真中被证明具有纯追击，偏离纯追捕，拦截和平行导航的能力。