Bioinspired Central Pattern Generator and T-S Fuzzy Neural Network-Based Control of a Robotic Manta for Depth and Heading Tracking

Aiming at the difficult problem of motion control of robotic manta with pectoral fin flexi-ble deformation, this paper proposes a control scheme that combines the bioinspired Central Pattern Generator (CPG) and T-S Fuzzy neural network(NN)-based control. An improved CPG drive network is presented for the multi-stage fin structure of the robotic manta. Considering the unknown dynamics and the external environmental disturbances, a sensor-based classic T-S Fuzzy NN controller is designed for heading and depth control. Finally, a pool test demonstrates the effectiveness and robustness of the proposed controller: the robotic manta can track the depth and heading with an error of ±6 cm and ±6°, satisfying accuracy requirements.