Optimization of Steering Control Parameters of Robot Fish in Variable Flow Field Based on PSO

WEN Jia-yan; WEN Lin-rong; XIE Guang-ming; LUO Wen-guang

doi:10.11993/j.issn.2096-3920.202109016

Volume 30 Issue 4

Sep 2022

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Article Navigation > Journal of Unmanned Undersea Systems > 2022 > 30(4): 441-449

WEN Jia-yan, WEN Lin-rong, XIE Guang-ming, LUO Wen-guang. Optimization of Steering Control Parameters of Robot Fish in Variable Flow Field Based on PSO[J]. Journal of Unmanned Undersea Systems, 2022, 30(4): 441-449. doi: 10.11993/j.issn.2096-3920.202109016

Citation:

WEN Jia-yan, WEN Lin-rong, XIE Guang-ming, LUO Wen-guang. Optimization of Steering Control Parameters of Robot Fish in Variable Flow Field Based on PSO[J]. Journal of Unmanned Undersea Systems, 2022, 30(4): 441-449. doi: 10.11993/j.issn.2096-3920.202109016

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Optimization of Steering Control Parameters of Robot Fish in Variable Flow Field Based on PSO

doi: 10.11993/j.issn.2096-3920.202109016

WEN Jia-yan^{1, 2
,},
WEN Lin-rong^1
,,
XIE Guang-ming^{1, 3},
LUO Wen-guang^{1, 2}

1.
School of Electrical Electronics and Computer Science, Guangxi University of Science and Technology, Liuzhou 545006, China
2.
Guangxi Key Laboratory of Automobile Components and Vehicle Technology, Guangxi University of Science and Technology, Liuzhou 545006, China
3.
College of Engineering, Peking University, Beijing 100871, China

Received Date: 2021-09-20
Accepted Date: 2022-07-19
Rev Recd Date: 2021-10-24

Available Online: 2022-09-06

Abstract

Abstract

Robotic fish are susceptible to interference from non-stationary flow fields and thus may deviate from the target course during navigation. In this study, course angle feedback is used to solve the problem of course deviation in a robotic fish without flow field sensors. First, a relationship between joint angular motion and joint torque is obtained by establishing the joint dynamics model of a robotic fish. In addition, a relationship between the propulsion and steering torque and swing posture is obtained. Subsequently, to maintain the stability of the robotic fish, a central pattern generator controller is used to adjust the closed-loop control system. Furthermore, this study takes the length of time during which the robot fish converges from a set course angle deviation to zero as an optimization index, and uses the particle swarm optimization algorithm to obtain the best controller parameters that can achieve rapid steering. The simulation analysis is performed based on the established dynamics model of a robotic fish, and the results verify the effectiveness and rationality of the proposed design method.
- robotic fish,
- course angle feedback,
- steering control,
- non-stationary flow field,
- particle swarm optimization

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References(20)

References

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