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Discrete-time integral terminal sliding mode-based speed tracking control for a robotic fish

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Abstract

This paper proposed a discrete-time integral terminal sliding mode (DITSM)-based forward speed tracking control for a robotic fish (RF). Due to the difficulty of quantification for the hydrodynamic model of RF during swimming, the head-yawing effect is considered in the obstructive thrust and then the RF dynamic model is further optimized via a data-driven approach. Compared with the traditional robotic fish model, the established model can provide sufficient thrust for the swimming of robotic fish and effectively improve the model accuracy. The DITSM control based on the accurate RF model is proposed by considering the head-yawing effect in order to achieve high-precision and robust speed tracking performance. The real-time experimental results are demonstrated to verify that the proposed control with head-yawing can provide with high-accuracy speed tracking for the RF.

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Acknowledgements

The authors would like to thank the Editor and anonymous reviewers for their helpful comments.

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Authors and Affiliations

  1. Discipline of Engineering and Energy, Centre for Water, Energy and Waste, Murdoch University, Perth, WA, 6150, Australia

    Mao Ye, Hai Wang & Amirmehdi Yazdani

  2. Key Laboratory of Intelligent Computing and Signal Processing (Ministry of Education), School of Electrical Engineering and Automation, Anhui University, Hefei, 230601, China

    Shuping He

  3. School of Electrical and Automation Engineering, Hefei University of Technology, Hefei, 230009, China

    Zhaowu Ping & Weiwei Xu

Authors
  1. Mao Ye
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  2. Hai Wang
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  3. Amirmehdi Yazdani
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  4. Shuping He
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  5. Zhaowu Ping
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  6. Weiwei Xu
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Correspondence to Hai Wang.

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Ye, M., Wang, H., Yazdani, A. et al. Discrete-time integral terminal sliding mode-based speed tracking control for a robotic fish. Nonlinear Dyn 105, 359–370 (2021). https://doi.org/10.1007/s11071-021-06591-0

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  • DOI: https://doi.org/10.1007/s11071-021-06591-0

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