Visual Feedback Disturbance Rejection Control for an Amphibious Bionic Stingray Under Actuator Saturation

Dear Editor, This letter is concerned with visual feedback disturbance rejection control for an amphibious bionic stingray subject to actuator saturation with internal and external disturbances. A visual feedback control method is designed for a dynamic nonlinear system on yaw angle of the amphibious bionic stingray via a finite-time extended-state-observer, which is proved to achieve finite-time stability via a Lyapunov method. Finally, simulation results verify the effectiveness on the visual feedback control method.