The dolphin is more excellent than the fish at the aspects of swimming performance and drag reduction mechanism, which makes biomimetic robotic dolphin more suitable be a research object in underwater biomimetic robotics community. It has a wide variety of potential applications. In this thesis, the research on modeling and control for biomimetic robotic dolphin and its application in water quality monitoring is carried out and the main contents are as follows: Firstly, the physiological characteristics and propulsive mechanism of the dolphin are introduced. Meanwhile, the research development of biomimetic robotic dolphin's prototypes, dynamic modeling and control for biomimetic robotic dolphin and robotic fish, and the main research contents and directions of biomimetic robotic dolphin are presented. The background and structure of this thesis are also introduced. Secondly, a biomimetic robotic dolphin with 3D movement ability is developed based on the requirements of biomimetic mechanism and system control. The biomimetic robotic dolphin's mechanical mechanism including the up-down motion mechanism based on barycenter adjustment is analyzed and designed. Meanwhile, the control system for biomimetic robotic dolphin as well as the remote control and test platform are designed. Thirdly, the research on robotic dolphin's dynamic modeling is carried out. After analyzing the kinematics and forces of the robotic dolphin, the generalized inertia forces and the generalized active forces are obtained and thus the robotic dolphin's dynamic model is built. In order to calculate the hydrodynamic force, the fluke is modeled as a finite span hydrofoil or flat plate according to different ranges of its attack angle based on lifting-line theory or resistance model, respectively. Furthermore, combing the propulsion by fitting dolphin’s wave, the optimization approach of average propulsive speed and propulsive efficiency by adjusting the amplitude and phase of fluke's joint angle's profile are proposed. Fourthly, the yaw motion and up-down motion are analyzed firstly. Aiming at the characteristics of the depth control and orientation control for biomimetic robotic dolphin, a depth control method based on the fuzzy PID control and an orientation control method based on self-tuning fuzzy are proposed respectively. The proposed depth control method introduces the nonlinear integral unit to eliminate steady-state error caused by variation of tail's buoyancy. By...
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