%0 Journal Article
%T 仿生机器鱼运动控制算法研究
%A 喻俊志
%A 陈尔奎
%A 王硕
%A 谭民
%J 自动化学报
%P 537-542
%D 2005
%X ？footnotesizeApracticalmotioncontrolstrategyforaradio-controlled,4-linkandfree-swimmingbiomimeticrobotfishispresented.Basedoncontrolperformanceofthefishthefish'smotioncontroltaskisdecomposedintoon-linespeedcontrolandorientationcontrol.Thespeedcontrolalgorithmisimplementedbyusingpiecewisecontrol,andorientationcontrolisrealizedbyfuzzylogic.Combiningwithstepcontrolandfuzzycontrol,apoint-to-point(PTP)controlalgorithmisproposedandappliedtotheclosed-loopexperimentalsystemthatusesavision-basedpositionsensingsubsystemtoprovidefeedback.Experimentsconfirmthereliabilityandeffectivenessofthepresentedalgorithms.
%K Biomimeticrobotfish
%K motioncontrol
%K point-to-point(PTP)control
%U http://www.aas.net.cn/CN/abstract/abstract13319.shtml