Robotic fish closed-loop feedback control method based on CPG model

Abstract

The invention discloses a robotic fish closed-loop feedback control method based on a CPG model. For robotic fish, each CPG unit is used for controlling the motion angle of a joint driving steering engine. A CPG model of the bionic robotic fish is established based on a plurality of CPG units, the established CPG model can well represent the biological characteristics of motion neurons, meanwhile,the model can adjust the phase difference, the frequency and the amplitude to achieve rhythmic motion control over the robotic fish, and good parameter mutation adaptability is achieved; a CPG network structure topological graph is constructed according to the CPG model, acquired peripheral obstacle information and yaw angle information of the CPG model are used as feedback items, and the established CPG model is discretized by using an Euler method, so that the complexity of the model is reduced, and the solving is facilitated; according to the closed-loop control method based on the CPG model, the motion coordination stability and the environment self-adaptive capacity of the robotic fish are improved, the swimming flexibility of the bionic robotic fish can be improved, and the autonomous swimming of the robotic fish is achieved.

Description

technical field [0001] The invention belongs to the field of bionic robotic fish, and in particular relates to a closed-loop feedback control method for robotic fish based on a CPG model. Background technique [0002] The control method of traditional bionic robotic fish is based on kinematics and dynamics models, which has the characteristics of simple structure and easy implementation. The information processing ability is weak, and it is difficult for the robot fish to swim autonomously. Inspired by the central nervous system of vertebrates, the central pattern generator (CPG) control model imitates the neuron connection to establish a mathematical model, which can not only generate stable rhythm signals, but also easily adjust signal frequency, amplitude and other parameters, and has good self-adaption and robustness. At the same time, bionic robotic fish needs to introduce external environment information and body state information to realize autonomous swimming. Howe...

AI Technical Summary

Problems solved by technology

At the same time, the bionic robot fish needs to introduce external environment information and body state information to realize autonomous swimming. However, the existing CPG model is usually composed of complex nonlinear differential equations, which contains highl

Images