Open-closed loop iterative learning control algorithm for double-link robotic fish

• Main Authors: WANG JIAXUAN, ZHAO ZHIJIA, WEI YUNSHAN, SHANG WENLI
• Format: Patent
• Language: Chinese; English
• Published: 08.08.2023
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention relates to the field of underwater monitoring, and discloses an open-closed loop iterative learning control algorithm for a double-link robotic fish, and the algorithm comprises the following steps: S1, constructing a nonlinear dynamic system according to a dynamic mathematical model of the double-link robotic fish; s2, obtaining an expected output track of the double-connecting-rod robotic fish, and obtaining an expected swinging speed sequence of the double-connecting-rod robotic fish; s3, the control input thrust acts on the double-connecting-rod robotic fish, and an actual swing speed sequence of the double-connecting-rod robotic fish is obtained; s4, solving an absolute error according to the actual swing speed sequence and the expected swing speed track sequence, and forming an error sequence; s5, forming an open-closed loop iterative learning controller; s6, updating the control input thrust sequence in the next iteration; s7, judging whether the error index is smaller than an allowable r