摘要
首先应用一种简单的线性CPG(中枢模式发生器)模型,实现了机器鱼游动模态的连续变化.随后通过实验分析得到CPG控制器控制参数与机器鱼速度和转弯角速度的转换层函数.进一步提出一种改进的比例导引位姿控制算法,以一种新的方式定义机器鱼的位姿误差,再将机器鱼的角度误差作为偏置项加入位置误差的比例控制律中.最后通过实验验证了算法的可行性与有效性.
Firstly, a simple linear CPG （central pattern generator） model is adopted to implement smooth transformations between various swimming gaits. Then, a function of the transition layer between CPG control parameters and the speed as well as the turning velocity of the robotic fish can be obtained through experiments. Further, an improved posture controller based on the proportional guidance controller is proposed, in which the posture error of robotic fish is redefined and its angle error is added to the proportional controller of the position error as a bias compensation. The feasibility and effectiveness of the proposed controller is verified by various experiments.
出处
《机器人》
EI
CSCD
北大核心
2016年第2期241-247,共7页
Robot
基金
国家自然科学基金(51575005
61503008)
中国博士后科学基金(2015M570013)
广西高校科学技术研究项目重点项目(ZD2014073)
广西自然科学青年基金(2014GXNSFBA118284)
关键词
机器鱼
中枢模式发生器
运动控制
比例导引
位姿控制算法
robotic fish
CPG （central pattern generator）
motion control
proportional guidance
posture control algorithm
