基于轨迹生成法的机器鱼位姿控制研究  

Research on position control for biomimetic robotic fish based on method of path generation

作　　者：肖权 乐绪鑫 任岩 王瑞清 谢广明[2] 

机构地区：[1]长江三峡能事达电气股份有限公司,湖北武汉430070 [2]北京大学工学院智能控制实验室,北京100871

出　　处：《机械设计》2013年第8期7-11,共5页Journal of Machine Design

基　　金：国家自然科学基金资助项目(10972003)

摘　　要：位姿控制是机器鱼研究的基础,机器鱼游动的实质是位姿到位姿的变化,位姿控制效果直接影响机器鱼完成目标任务的质量。在行为机制基础上,以机器鱼从起始位姿到目标位姿的距离与夹角误差建立矢量矩阵,并以矢量矩阵参量建立极坐标与Lyapunov函数,分析机器鱼从起始位姿到目标位姿的稳定性;在此基础上,给定起始位姿与目标位姿,并在起始位姿与目标位姿分别以"舒适圆"为半径做两个圆,采用轨迹生成法对机器鱼位姿控制进行研究,并对实验效果进行了分析。The swimming of the biomimetic robotic fish is essentially the variation of the pose of the Biomimetic Robotic Fish,which is one basic part of the study on biomimetic robotic fish.The quality of the pose control has great influence on the completion of the task.Based on behavior-base vector matrix by distance and error angle from the start pose to the target pose is set up,and based on which Lyapunov function is further established.On the above foundation,the method of path generation of biomimetic robotic fish by giving start pose and target pose are studied and the experimental results are analyzed.

关 键 词：机器鱼 行为机制 轨迹生成法 位姿控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]