If, as you mentioned, your penis always discharges
a fluid similar to Madhy in its color and characteristics but has no bad smell and is discharged without a sexual arousal, it takes the same ruling as urinary incontinence. This means that you must perform Istinja' (cleansing the private parts with water) and Wudu' (ablution) for each Salah. Moreover, you must guard against its spreading on your clothes and thighs by covering the penis as much as possible. This is because Allah (Exalted be He) says:
So keep your duty to Allâh and fear Him as much as you can
We ask Allah to grant you recovery and compensate you for this affliction.May Allah grant us success. May peace and blessings be upon our Prophet Muhammad, his family, and Companions.