Step-By-Step Coordination Control of Multiple Robot Fish Based on Discrete Integral Terminal Sliding Mode

In this paper, the discrete time dynamics model of robotic fish is established by using data-assisted method, and a step-by-step coordination control strategy for two robotic fishes is investigated based on the model. Two steps are included in the control strategy, where the attitude is first adjusted to align the position of follower with the leader, and then, follows the position control to ensure the distance toward the leader. Furthermore, for achieving the fast convergence rate and robust position tracking performance, a discrete time integral terminal sliding mode controller is designed. The simulation results are demonstrated to verify the effectiveness and the excellent performance of the proposed control strategy.