Separate Control Strategy for a Biomimetic Gliding Robotic Fish

In this article, we present a novel separate strategy to control the pitch attitude and the gliding direction for a biomimetic gliding robotic fish by the coordination of the external and internal control surfaces. First, we derive the gliding dynamics and hydrodynamics within the framework of the extended angle of attack (AOA), based on which the gliding model is decomposed into pitch and velocity terms. Next, the backstepping and model...