Precise Control Method for Directional Swimming of a Robotic Fish Based on CPG and Fuzzy Control
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摘要: 机器鱼在水下执行探测等作业任务时, 其游动方向的精准性会受到波浪、漩涡等因素的影响, 致使其无法完成相应任务。为解决机器鱼游动方向的精准性问题, 文中基于中枢模式发生器(CPG)理论结合模糊控制器提出了一种可以实现仿鲹科机器鱼定向游动的精确控制方法。首先利用Hopf振荡器构建基于极限环的机器鱼CPG模型, 在机器鱼游动前期, 采用小摆幅高频率的CPG控制信号以获得较大推进力, 后期则采取大摆幅低频率的CPG信号实现稳定游动; 然后, 根据姿态传感器获取机器鱼的航姿角度信息, 利用模糊控制器实时修正机器鱼与目标方向的偏差。通过机器鱼的定向游动及抗干扰试验, 验证了该方法的可行性和有效性, 表明其在机器鱼进行复杂环境下精准方向游动中具有广阔的应用前景。Abstract: Robotic fish detection under water, waves, vortices, etc. can affect the accuracy of the swimming direction of a robotic fish, making it virtually for corresponding tasks to be completed. To solve the problem of ensuring the accuracy of the swimming direction of robotic fish, this study proposes an accurate control method based on the central pattern generator(CPG) theory and fuzzy controller. The proposed method can realize the directional swimming of a robotic fish of the genus Plover. In this method, a Hopf oscillator is used to build a CPG model of a robotic fish based on a limit cycle. In the early stage of robotic fish swimming, a small swing high-frequency CPG control signal is used to obtain a large propulsion force, and a large swing low-frequency CPG signal realizes stable swimming. Then, the attitude angle information of the robotic fish is obtained based on an attitude sensor, and the deviation of the robotic fish from the target direction is corrected in real time using the fuzzy controller. Finally, directional swimming and anti-interference experiments of the robotic fish are conducted to verify the feasibility and effectiveness of the precise directional swimming method. Results show that the proposed method has broad application prospects for precise directional swimming of robotic fish in complex environments.
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Key words:
- robotic fish /
- central pattern generator /
- fuzzy control /
- directional swimming /
- precise control
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