Yuyang Mo, Weiheng Su, Zicun Hong, Yunquan Li, Yong Zhong
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引用次数: 0
摘要
本文介绍了一种自适应视线(LOS)制导方法,该方法结合了有限时间侧滑角观测器,以实现由 LOS 驱动的仿生机器鱼的精确平面路径跟踪。首先,介绍了一种基于实时交叉轨迹误差的自适应 LOS 引导方法。为减轻侧倾角对跟踪性能的不利影响,采用了基于有限时间收敛理论的有限时间观测器(FTO)来观测时变侧倾角并修正目标偏航。随后,利用经典的比例-积分-派生(PID)控制器实现偏航跟踪,并进行静态和动态偏航角实验进行评估。最后,将基于偏航跟踪的路径跟踪控制策略应用于机器鱼,机器鱼的运动由改进的中央模式发生器(CPG)生成,并配备了一个六轴惯性测量单元,用于实时确定游动方向。水箱实验中的定量比较验证了所提方法的有效性。
Finite-Time Line-of-Sight Guidance-Based Path-Following Control for a Wire-Driven Robot Fish.
This paper presents an adaptive line-of-sight (LOS) guidance method, incorporating a finite-time sideslip angle observer to achieve precise planar path tracking of a bionic robotic fish driven by LOS. First, an adaptive LOS guidance method based on real-time cross-track error is presented. To mitigate the adverse effects of the sideslip angle on tracking performance, a finite-time observer (FTO) based on finite-time convergence theory is employed to observe the time-varying sideslip angle and correct the target yaw. Subsequently, classical proportional-integral-derivative (PID) controllers are utilized to achieve yaw tracking, followed by static and dynamic yaw angle experiments for evaluation. Finally, the yaw-tracking-based path-tracking control strategy is applied to the robotic fish, whose motion is generated by an improved central pattern generator (CPG) and equipped with a six-axis inertial measurement unit for real-time swimming direction. Quantitative comparisons in tank experiments validate the effectiveness of the proposed method.