Navigation Control of a Dactylopteridae-Inspired Biomimetic Underwater Vehicle Using the Backstepping Method

Fish in nature have developed efficient and flexible underwater propulsion methods, enabling them to navigate complex aquatic environments. Inspired by these natural systems, this paper presents the design, dynamic modeling, and control strategy of RoboDact, a biomimetic robotic fish that integrates both Median and Paired Fin (MPF) and Body and Caudal Fin (BCF) propulsion modes. The dynamic model of RoboDact is formulated, taking into account the hydrodynamic forces and added mass effects. A control approach based on the Backstepping method is proposed, where a Lyapunov function is constructed to ensure stability and achieve target tracking. The effectiveness of the proposed model and control strategy is validated through simulations and experiments, demonstrating RoboDact’s capability for precise maneuvering and efficient propulsion.