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自动化学报 2005
仿生机器鱼运动控制算法研究, PP. 537-542 Keywords: Biomimeticrobotfish,motioncontrol,point-to-point(PTP)control Abstract: ？footnotesizeApracticalmotioncontrolstrategyforaradio-controlled,4-linkandfree-swimmingbiomimeticrobotfishispresented.Basedoncontrolperformanceofthefishthefish'smotioncontroltaskisdecomposedintoon-linespeedcontrolandorientationcontrol.Thespeedcontrolalgorithmisimplementedbyusingpiecewisecontrol,andorientationcontrolisrealizedbyfuzzylogic.Combiningwithstepcontrolandfuzzycontrol,apoint-to-point(PTP)controlalgorithmisproposedandappliedtotheclosed-loopexperimentalsystemthatusesavision-basedpositionsensingsubsystemtoprovidefeedback.Experimentsconfirmthereliabilityandeffectivenessofthepresentedalgorithms.
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