The speed consistency research of robotic fish group

On the basis of a kinetic energy mapping feature equation, a parallel-identifying implementation method for unifying the propulsive speed was proposed to address the speed consistency matter concerning a joint-caudal robotic fish group. As for the concrete implementation, firstly a series of kinematic feature equations were created for the group, while a parameter iterative learning identification and adaptive control policy was employed to achieve the independent propulsion for each one of the group. Assuming that every robotic fish obtains the same speed target, the whole group will finally tend to a uniform speed. Secondly, an adjusting protocol was created to avoid the speed discrepancy derived from individual measurement errors, and to achieve the synchronous and stable propulsion of the whole group, as the group's parameters were determined by the parameter values of a selected primary fish. Simulation results demonstrate the effectiveness of the implementation method.