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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 model of linear CPG (central mode generator) was used to realize the continuous change of swimming robot’s motional mode.And then, the transfer layer function of CPG controller’s control parameters and robot fish’s speed and cornering angular velocity was obtained through experimental analysis. An improved algorithm of Proportional Direction Control is put forward to define the pose error of a robot fish in a new way and then add the angle error of the robot fish as a bias term to the proportional control law of position error.Finally, Experiments show that the algorithm is feasible and effective.