Design and Control of an Embedded Vision Guided Robotic Fish with Multiple Control Surfaces

Table 2

CPG parameter values applied to the robotic fish.

Parameters	Value
𝜔	𝜔𝑖∈[0,52)
Γ	Γ𝑖∈[0,60]
𝑎	𝑎1=0.3,𝑎2=−0.2
𝑏	𝑏1=0.2,𝑏2=−0.1
𝛾𝑖	0.0
𝑢^𝑖𝑏	30