A phase compensation algorithm to solve modes switching problem for bioinspired undulations of robotic fish models

Switching behavior among different swimming modes of fish is a normal phenomenon in nature. We find that there is the joints´ vibration fact for robotic fish in the process of switching. It is believed that the difference might be caused by discontinuous driven signal. This paper analyzes the discontinuous signal´s the effect on the robotic fish joints and fin surface. Furthermore, this paper proposes an effective phase compensation method based on sinusoidal model to solve the discontinuous problem that enables robotic fish to mimic this spontaneous mode switching behavior of live fish. Finally, experimental results illustrate that the phase compensation method shows the superiority in saving energy and reducing the complexity of the control tracking algorithm.