This　article　proposes　a　robotic　fish　formation　control　scheme　that　is　based　on　finite-time　terminal　sliding　mode　to　achieve　coordinated　tracking　of　multiple　target　paths　under　external　disturbances　and　internal　parameter　perturbations.　The　method　explores　the　lateral　sliding　mechanism　of　each　body　in　the　surge　and　sway　directions　by　constructing　a　directional　compensation　guidance　strategy　that　is　based　on　a　finite-time　disturbance　observer,　thus　enabling　the　precise　coordinated　movement　of　multiple　robotic　fish.　Furthermore,　this　article　acknowledges　that　the　highly　coupled　dynamics　of　the　robotic　fish　are　susceptible　to　external　environmental　influences　and　modeling　accuracy.　Hence,　a　rapid　global　terminal　sliding　mode　fuzzy　controller　that　considers　tangential　displacement　is　introduced,　and　fuzzy　adaptive　methods　are　utilized　to　fit　complex　uncertainties.　This　approach　mitigates　the　chattering　problems　commonly　associated　with　traditional　sliding　mode　control　and　enhances　the　error　convergence　speed　and　accuracy　of　the　robotic　fish　formation　system.　©　2005-2012　IEEE.