Strategies for Control of Energy on a Simplified Model of a Robotic Fish

This paper explores the application of H∞ robust control of the total energy stored within a physical system, with application toward the generation of a swimming kinematic for a class of under-actuated robotic fish.This work has potential for expansion into other areas of biomimetic locomotion, such as artificial bird flight, and terrestrial legged locomotion.A H∞ controller was applied to the control of the energy in a simplified robotic fish model, and results were compared and contrasted with results from a simple deadbeat method for the control of total energy put forward in a previous article.Results presented in this paper indicated that the resultant control strategy created more consistent, and lower cost harmonic motion.