Abstract
AbstractIn this paper, a control algorithm based on Central Pattern Generator (CPG) network and nonsingular terminal sliding mode control is proposed for trajectory tracking of the bionic fish. Firstly, the CPG network is designed according to the mechanical structure of the bionic fish designed in the laboratory, and the kinematics equation of the robot based on CPG network is established. The conversion functions between the speed and the CPG model are given by data. Secondly, CPG network is used as the lower control algorithm and nonsingular terminal sliding mode control is served as the upper control algorithm to design a controller innovatively. The CPG parameters of bionic fish are controlled and adjusted by the upper algorithm to realize trajectory tracking. Finally, the effectiveness of the controller is verified by simulation. Under the control of CPG-nonsingular terminal sliding mode controller, the bionic fish can stably and fast track up the trajectory.KeywordsThe Bionic FishTrajectory TrackingCPGNonsingular Terminal Sliding Mode Control
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