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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。
Pose control is the basis for the study of the robot fish. The essence of robot fish swimming is the change of pose to pose, and the effect of posture control directly affects the quality of the robot to accomplish the target task. Based on the behavioral mechanism, a vector matrix was constructed based on the distance and angle error of the robot fish from the initial pose to the target pose, and the polar coordinates and Lyapunov function were established by the vector matrix parameters. On the basis of this, given the initial pose and the target pose, and the initial pose and the target pose are respectively made in two circles with “Comfort circle ” as the radius, the trajectory is generated Act on the posture control of robotic fish research, and the experimental results were analyzed.