Considering the complex offshore environment, where small robotic fish are exposed to surface disturbances from wave forces, suspended particles, and model uncertainties, as well as deep-water disturbances from bottom currents, this paper proposes an inverse sliding mode control strategy based on a disturbance observer to enhance trajectory tracking robustness. The research focuses on a tail-fin-driven bionic robotic fish. Uti...

Hybrid-driven robotic fish combines the maneuverability of propeller propulsion with the efficiency of biomimetic fin propulsion, offering potential advantages in underwater exploration and robotic applications. This paper presents the design and development of a hybrid-driven robotic fish that integrates both biomimetic fin and propeller propulsion systems. Initially, the kinematic and dynamic modeling challenges associated w...

To achieve time–energy–impact multi-objective optimization in the trajectory control of underwater manipulators, this paper proposes a Fast Non-Dominated Sorting Tuna Swarm Optimization algorithm (FNS-TSO). The algorithm integrates a fast non-dominated sorting mechanism into the Tuna Swarm Optimization algorithm, improves initialization through Optimal Latin Hypercubic Sampling (OLHS) to enhance population distribution uniform...