Investigation on target point approaching control of bionic robotic fish in static flow.

It is well-known that fish have the ability to adapt to complex water flow environments. However, most research on bionic robotic fishes has focused on static water conditions. There remains a lot of room on the control of robotic fish in water flow. While static flow serves as the fundamental element of water flow, this paper seeks to address the issue of target point approaching control for bionic robotic fish in static water environments. Recognizing the challenges posed by the proportional–integral–derivative (PID) control and model predictive control (MPC) methods encountering the complex non-linear system, this study proposes a hybrid control approach that based on model predictive decision-making strategy. The proposed hybrid control method is effective in guiding robotic fish towards target points in both static water and static flow environments and achieving rapid system convergence under the premise of significantly reducing the calculation error. This work provides a potential reference for the control of bionic robotic fish in static flow. [Display omitted] • Complete the target point approaching task of bionic robot fish in different water fields, including static water and static flow. • A dynamic model of a single joint robot fish considering the influence of the flow. • A hybrid controller combining PID controller and model predictive controller. • Comparative target point approaching experiments on PID control, MPC control and hybrid control. [ABSTRACT FROM AUTHOR]