This　work　presents　an　adaptive　tracking　guidance　method　for　robotic　fishes.　The　scheme　enables　robots　to　suppress　external　interference　and　eliminate　motion　jitter.　An　adaptive　integral　surge　line-of-sight　guidance　rule　is　designed　to　eliminate　dynamics　interference　and　sideslip　issues.　Limited-time　yaw　and　surge　speed　observers　are　reported　to　fit　disturbance　variables　in　the　model.　The　approximation　values　can　compensate　for　the　system＇s　control　input　and　improve　the　robots＇　tracking　accuracy.　Moreover,　this　work　develops　a　terminal　sliding　mode　controller　and　third-order　differential　processor　to　determine　the　rotational　torque　and　reduce　the　robots＇　run　jitter.　Then,　Lyapunov＇s　theory　proves　the　uniform　ultimate　boundedness　of　the　proposed　method.　Simulation　and　physical　experiments　confirm　that　the　technology　improves　the　tracking　error　convergence　speed　and　stability　of　robotic　fishes.　©　2014　Chinese　Association　of　Automation.