仿生机器鱼位姿模糊控制研究  

Study of fuzzy control for biomimetic robot fish pose

作　　者：周加全 罗文广[1] 李亮[2] 谢广明[2] 蓝红莉[1] 

机构地区：[1]广西科技大学电气与信息工程学院,广西柳州545006 [2]北京大学工学院,北京100871

出　　处：《广西科技大学学报》2017年第2期17-22,共6页Journal of Guangxi University of Science and Technology

基　　金：广西高校科学技术研究重点项目(ZD2014073)资助

摘　　要：仿生机器鱼处在非线性的、时变的、复杂的水环境中,难以建立精确的数学模型,其位姿控制成为当前的主要难题之一.为了解决这个难题,设计了一种适应的模糊控制算法,可以实时地控制机器鱼的方向和速度,通过调整方向和速度的误差两个变量,使机器鱼能够快速地、较精确地到达目标点.在现有的水下机器人协作控制平台下,进行了机器鱼从一个目标位姿到另一个目标位姿的游动实验,结果表明该算法计算量小,显著提高了机器鱼控制的精度,证明了算法的有效性及可靠性.It is difficult to establish an accurate mathematical model in the nonlinear, time varying and complicated water environment for biomimetic robot fishes, so their pose control is one of the main problems. In order to solve this problem, a kind of adaptive fuzzy control algorithm is designed, which can control the direction and speed of robotic fish in real-time to make it reach the target point quickly and accurately by adjusting the two variables＇ error. In the collaborative control platform of the existing underwater robot, the robot fish swimming experiment from a target position to another position is made. The results show that the algorithm has a small calculation amount, improves the control precision of the robot fish, which proves the validity and reliability of the algorithm.

关 键 词：仿生机器鱼 位姿控制 模糊控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]