Bionic fish pose tracking control based on CPG sliding mode

In order to achieve the purpose of bionic fish pose tracking, this paper proposes a bionic fish pose tracking control algorithm based on the combination of CPG (central pattern generator) and sliding mode control. Firstly, this paper establishes a bionic fish CPG motion control network, and the conv...

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Bibliographic Details
Published in2021 33rd Chinese Control and Decision Conference (CCDC) pp. 4384 - 4390
Main Authors Zhang, Wei, Lin, Fantai, Yang, Haoyu, Gong, Qingshuo
Format Conference Proceeding
LanguageEnglish
Published IEEE 22.05.2021
Subjects
Angular velocity
Asymptotic stability
Biological system modeling
Bionic fish
CPG (Central Pattern Generator)
Fish
Pose tracking
Sliding mode control
Stability analysis
Switches
Tracking
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Summary:In order to achieve the purpose of bionic fish pose tracking, this paper proposes a bionic fish pose tracking control algorithm based on the combination of CPG (central pattern generator) and sliding mode control. Firstly, this paper establishes a bionic fish CPG motion control network, and the conversion relationship between the CPG control parameters and the speed and angular velocity of the bionic fish is studied; Secondly, the bionic fish pose information obtained by the upper processor is used as the feedback input, Innovatively designed CPG-sliding mode controller with global progressive stability according to the tracking error of the bionic fish. Through real-time adjustment and control of the CPG parameters of the bionic fish's multi-modal swimming achieve the purpose of tracking the expected pose of the bionic fish; Finally, the effectiveness and feasibility of the control algorithm are verified through simulation and experiment.
ISSN:1948-9447
DOI:10.1109/CCDC52312.2021.9602277