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。
In this paper, a two-stage control law is proposed for posture stabilization problem of robot fish. The two stages 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.
出处
《兵工自动化》
2012年第11期46-50,共5页
Ordnance Industry Automation
基金
国家自然科学基金(60774089
61005082
61020106005)
教育部博士点基金(20100001120005)
机器人技术与系统国家重点实验室开放研究项目资助
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
robot fish
posture stabilization
proportional navigation guidance law
time-varying feedback control law
experimental research
