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1、Vol.31,No.4ACTAAUTOMATICASINICAJuly,2005MotionControlAlgorithmsforaFree-swimmingBiomimeticRobotFish1)YUJun-Zhi1,2CHENEr-Kui3WANGShuo2TANMin21(CenterforSystemsandControl,PekingUniversity,Beijing100871)2(InstituteofAutomation,ChineseAcademyofSciences,Beijing100080)3
2、(SchoolofCommunicationandControlEngineering,SouthernYangtzeUniversity,Wuxi214036)(E-mail:Junzhiyu@sohu.com)AbstractApracticalmotioncontrolstrategyforaradio-controlled,4-linkandfree-swimmingbiomimeticrobotfishispresented.Basedoncontrolperformanceofthefishthefish0smoti
3、oncontroltaskisdecomposedintoon-linespeedcontrolandorientationcontrol.Thespeedcontrolalgorithmisimplementedbyusingpiecewisecontrol,andorientationcontrolisrealizedbyfuzzylogic.Combiningwithstepcontrolandfuzzycontrol,apoint-to-point(PTP)controlalgorithmisproposedand
4、appliedtotheclosed-loopexperimentalsystemthatusesavision-basedpositionsensingsubsystemtoprovidefeedback.Experimentsconfirmthereliabilityandeffectivenessofthepresentedalgorithms.KeywordsBiomimeticrobotfish,motioncontrol,point-to-point(PTP)control1IntroductionInrecenty
5、ears,growingstudiesonrobotseitherhavebeenusedtoaddressspecificbiologicalquestionsorhavebeendirectlyinspiredbybiologicalsystems.Avarietyofbiomimeticrobotsrangingfromflyingtoswimminghavebeenconstructed,andsomereviewsconcerningbioroboticsresearchhave[1]appeared.Mostofs
6、wimmingrobotshavebeenmotivatedbyadesiretocreateAUVs(autonomousunderwatervehicles)withthevirtueofefficiency,maneuverabilityandlownoise,buttheyalsohave[2]beenprovidedwithessentialinsightsintothemechanismandcontroloffishswimming.In1994,MITsuccessfullydevelopedan8-link,fi
7、sh-likemachineRoboTuna,whichmaybeoriginatedR&Dofrobot[3]fish.Sincethen,basedonprogressesinrobotics,hydrodynamicsoffishlikeswimming,newmaterials,actuatorsandcontroltechnology,moreandmoreresearchhasfocusedonthedevelopmentofnovelfish-likevehicles.Ourobjectiveistodevelop
8、preliminarymotioncontrolstrategyforarobotfishthatusesaflexible0posteriorbodyandanoscillatingfoilaspropulsor.Sincerobotfishsswimminginvolveshydrodynamicsoft
