Fault-Tolerant Speed Control of a Biomimetic Multijoint Robotic Fish

Fault tolerance is critical to the real applications of underwater robots in complex underwater environments. In this paper, the fault-tolerant speed control is proposed to control the robotic fish with a stuck tail joint to reach the specified speed. Specifically, based on the yaw fault-tolerant control, we firstly analyze the coupling problem between the control parameters and design the feedback controller. In order to solve the problem that the feedback controller converges slowly, a multi-layer perceptron-based feedforward controller is proposed. Simulation experiments are designed to test the performance and effectiveness of the control system. Simulation results reveal the effectiveness of the control method.