Abstract
In 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.
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This work was supported by the Natural Science Foundation of Heilongjiang Province No. JJ2021JQ0075 and the National Natural Science Foundation of China under Grant No. E1102/52071108.
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Zhang, W., Tang, Y., Lin, F., Gong, Q. (2023). Trajectory Tracking Control of Bionic Fish Based on CPG-Nonsingular Terminal Sliding Mode. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_190
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DOI: https://doi.org/10.1007/978-981-19-6613-2_190
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