点对点的模糊控制在机器鱼路径优化上的研究  

Research on Path Optimization of Point-to-point Fuzzy Control on Biomimetic Robot-fish

作　　者：肖权[1] 孔峰[1] 陶金[1] 

机构地区：[1]广西工学院电子信息与控制工程系,广西柳州545006

出　　处：《电气传动》2011年第7期34-37,47,共5页Electric Drive

基　　金：广西研究生教育创新计划(2011105940811M01);广西自然科学基金资助(0640033)

摘　　要：机器鱼处在环境因素不确定的非线性动态变化环境中,外界环境的变化使机器鱼的点对点控制效果不好。结合机器鱼游动的特点,设计了一个点对点的模糊控制器,并阐述其设计的过程及算法的实现。最后在机器鱼控制平台上通过两组实验作比较,验证了点对点的模糊控制在机器鱼路径优化上的可行性与有效性,提高机器鱼点对点的控制效果。The biomimetic robot-fish is in an uncertain non-linear dynamic varied environment, it is not very good to control the biomimetic robot-fish point-to-point with the varied of the external environment. Combined with the characteristics of biomimetic robot-fish swimming,a point-to-point fuzzy controller was designed,and elaborated the process of design and implementation of algorithm. At last,it was verified that,it is feasible and operative to improve the course and effect on controlling of the point-to-point fuzzy controller, by comparing the two experiments on biomimetic robot-fish experiment platform.

关 键 词：机器鱼 点对点的控制 模糊控制器 路径优化 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]