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机器鱼群体推进速度一致性研究

DOI: 10.15918/j.tbit1001-0645.2015.10.010

Keywords: 机器鱼群 平行辨识 整定协议 一致性 动能映射原理

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Abstract:

针对尾鳍推进机器鱼群体速度一致性问题,以动能映射特征方程为基础,提出了基于平行辨识的一致到达方法;并进一步提出了基于动能映射系数整定协议的速度同步方法. 具体实现为:首先为群体内的个体建立一簇运动学特征方程,并采用参数迭代学习辨识及自适应控制策略使机器鱼各自独立推进. 在速度目标相同的条件下,机器鱼群体最终趋近于等速运动;然后,通过建立稳态下的动能映射系数整定协议,由主机器鱼参数值整定群体参数,避免了不同个体测量误差带来的步调变化,实现群体速度的同步和前进姿态稳定. 仿真结果证明,该目标速度一致性实现方法是有效的

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