In this paper, propose an efficient advanced controller that runs well in controlling the motion for fish robot. The fish robot is a new type of biomimetic underwater robot which is developing very fast in recent years by many researchers. | SCIENCE & TECHNOLOGY DEVELOPMENT, Vol 18, 2015 Turning control of a 3- Joint carangiform fish robot using sliding mode based controllers Tuong Quan Vo University of Technology, VNU – HCM ABSTRACT: The fish robot is a new type of biomimetic underwater robot which is developing very fast in recent years by many researchers. Because it moves silently, saves energy, and is flexible in its operation in comparison to other kinds of underwater robots, such as Remotely Operated Vehicles (ROVs) or Autonomous Underwater Vehicles (AUVs). In this paper, we propose an efficient advanced controller that runs well in controlling the motion for our fish robot. First, we derive a new dynamic model of a 3-joint (4 links) Carangiform fish robot. The dynamic model also addresses the heading angle of a fish robot, which is not often covered in other research. Second, we present a Sliding Mode Controller (SMC) and a Fuzzy Sliding Mode Controller (FSMC) to the straight motion and turning motion of a fish robot. Then, in order to prove the effectiveness of the SMC and FSMC, we conduct some numerical simulations to show the feasibility or the advantage of these proposed controllers. Keywords: Dynamic modeling, Fish robot, Straight, Turning, Sliding mode controller, SMC, Fuzzy sliding mode controller, FSMC. 1. INTRODUCTION Generally, researches about underwater propulsion mainly depend on the use of propellers or thrusters to generate the motion for objects in underwater environments. However, most marine animals use the undulation of their body shape, as well as oscillation of their tail fins, to generate propulsive force. The changing of body shape generates propulsion to make the object move forward or backward effectively. The Carangiform-type fish is a kind of changing body shape that creates motion in the underwater environment. George V. Lauder and Eliot G. Drucker thoroughly surveyed and analyzed the motion mechanisms of fish fins in order to develop such a successful
