一种机器鱼的位姿镇定控制算法
内容摘要：
通过研究机器鱼的位姿镇定问题，提出一个两阶段的控制律。2 个阶段分为：快速游向目标点和精确的位姿调整。在第一阶段，通过使用一种改进后的比例导引控制律，使机器鱼快速游向目标点；在第二阶段，采用一种时变反馈控制律来精确调整其位置和方向。最后，在全局视觉实验平台上进行了机器鱼的推球实验，实验结果验证了该算法的有效性。
关键词：
机器鱼；位姿镇定；比例导引控制律；时变反馈控制律；实验研究
中图分类号：TP201.6 文献标志码：A
Abstract: In this paper, a two-stage control law is proposed for posture stabilization problem of robot fish. The two tages includes: fast position approaching and accurate posture adjusting. In the first stage, a modified proportional navigation guidance law is used such that the robot fish swims fast toward the target point. In the second stage, a time-varying feedback control law is used to adjust its position and direction accurately. Finally, the control law is applied in a robot fish pushing ball experiment on the global vision experimental platform. The results show that the control law can be used conveniently and effectively.
Keywords: robot fish; posture stabilization; proportional navigation guidance law; time-varying feedback control law; experimental research
