A closed-loop feedback control method for robotic fish based on cpg model

Abstract

The invention discloses a closed-loop feedback control method for a robotic fish based on a CPG model. For a robotic fish in which each CPG unit is used to control the motion angle of a joint-driven steering gear, a CPG model for constructing a bionic robotic fish based on multiple CPG units is established. , the established CPG model can well characterize the biological characteristics of motor neurons. At the same time, the model can not only adjust the phase difference, frequency and amplitude respectively to realize the rhythmic movement control of robotic fish, but also has good parameter mutation adaptability ; Construct the CPG network structure topology diagram according to the CPG model, and use the Euler method to discretize the established CPG model according to the obtained CPG model peripheral obstacle information and yaw angle information as feedback items, which reduces the model complexity and facilitates the solution; improved The motion coordination stability and environment self-adaptive ability of the robotic fish, using this closed-loop control method based on the CPG model, can improve the swimming flexibility of the bionic robotic fish and realize the autonomous swimming of the robotic fish.

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 highly nonlinear links, and it is difficult to realize the feedback control of the robot fish.

At present, the research on CPG feedback control of robotic fish is still in its infancy, and there is a lack of effective control methods for autonomous swimming of robotic fish.

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