To address the complex hydrodynamic modeling challenges during the autonomous locomotion of robotic fish

we devised a robotic fish with a single-joint actuationand grounded in the theory of the large amplitude elongated body theory (LEABT) and rigid body dynamics. In order to reduce the experimental costs associated with determining the resistance coefficients

lift coefficients

and resistance moment coefficients within the robotic fish model

an experimental approach was employed using a ultra-wide band motion tracking platform. The tail joint motion patterns of the robotic fish were used as control inputs

and these crucial model parameters were fitted from the experimental data. To validate the model′s accuracy

a comparison was made between numerical simulation results and outcomes from physical model experiments. Furthermore

to assess the control capabilities of the constructed model in practical applications

we implemented target tracking control employing a PID controller. Simulation results indicate that the model demonstrates excellent predictive performance in terms of speed

angular velocity

and trajectory. Additionally

by adjusting the frequency and amplitude of tail joint oscillations

effective control over the robotic fish′s locomotion can be achieved.