Trajectory tracking control of a bionic robotic fish based on iterative learning

被引：22

作者：

Wang, Ming ^{[1
]}

Zhang, Yanlu ^{[1
]}

Dong, Huifang ^{[1
]}

Yu, Junzhi ^{[2
]}

机构：

[1] Shandong Jianzhu Univ, Sch Informat & Elect Engn, Jinan 250101, Peoples R China

[2] Peking Univ, Coll Engn, BIC ESAT, State Key Lab Turbulence & Complex Syst,Dept Mech, Beijing 100871, Peoples R China

来源：

SCIENCE CHINA-INFORMATION SCIENCES | 2020年 / 63卷 / 07期

基金：

中国国家自然科学基金;

关键词：

bionic robot fish; iterative learning; trajectory tracking; motion control;

D O I：

10.1007/s11432-019-2760-5

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A bionic robotic fish has great potential application prospect. High maneuverability swimming control of a bionic robotic fish has been one of the research hotspots in the robotic fish field. In this paper, an iterative learning method has been proposed to solve the trajectory tracking control problem of robotic fish swimming. First, a dynamic model of the multi-joint bionic robotic fish is established. By considering a three-joint robotic fish as an example, the unified expression of the dynamic equation of the three-joint bionic robotic fish is obtained by Lagrange method. Second, the iterative learning controller for controlling the bionic robotic fish is designed. Then the convergence of the iterative learning controller is proved. Finally, the trajectory tracking control simulation experiment based on iterative learning is conducted. The simulation results show that the trajectory tracking control method based on iterative learning for a bionic robotic fish is effective.

引用

页数：9

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