Design and Implementation of a High Precision Posture Control Algorithm for Robotic Fish
LIU Anquan1, LI Liang2, LUO Wenguang1,3, XIE Guangming2
1. College of Electrical & Information Engineering, Guangxi University of Science & Technology, Liuzhou 545006, China;
2. College of Engineering, Peking University, Beijing 100871, China;
3. Guangxi Key Laboratory of Automobile Components and Vehicle Technology, Liuzhou 545006, China
刘安全, 李亮, 罗文广, 谢广明. 一种面向机器鱼的高精度位姿控制算法设计与实现[J]. 机器人, 2016, 38(2): 241-247.DOI: 10.13973/j.cnki.robot.2016.0241.
LIU Anquan, LI Liang, LUO Wenguang, XIE Guangming. Design and Implementation of a High Precision Posture Control Algorithm for Robotic Fish. ROBOT, 2016, 38(2): 241-247. DOI: 10.13973/j.cnki.robot.2016.0241.
Firstly, a simple linear CPG (central pattern generator) model is adopted to implement smooth transformations between various swimming gaits. Then, a function of the transition layer between CPG control parameters and the speed as well as the turning velocity of the robotic fish can be obtained through experiments. Further, an improved posture controller based on the proportional guidance controller is proposed, in which the posture error of robotic fish is redefined and its angle error is added to the proportional controller of the position error as a bias compensation. The feasibility and effectiveness of the proposed controller is verified by various experiments.
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