Research On Posture Control For Robotic Fish Based On Fuzzy Control Algorithm

In recent years,with the reduction of natural resources,mankind began to continue the exploration and development of new resources.The total area of the ocean is 75% of the total area of the earth.marine resources contains rich in minerals and biological resources,and marine resources is a valuable asset for the sustainable development of human society.So more and more people pay attention to mining and utilizing marine resources,underwater robots is to explore and develop and utilize resources of the marine world an important tool.Biomimetic Robotic-fish is a kind of underwater robot,and its theoretical research not only has high research value,but also has wide application prospect in the field of water resources investigation and military.At present,due to the complexity and variability of underwater environment and biomimetic robotic-fish is not fully mature in the mobility and flexibility,so bionic machine fish did not play a practical application,domestic and foreign related theories and key technologies will be further studied and discussed.In this paper,the biomimetic robotic-fish of Peking University is taken as the research object.the velocity and direction of the bionic robot are controlled by the fuzzy control algorithm from the motion control of the biomimetic robotic-fish,so as to realize the precise control of the fish pose.Firstly,the concept and significance of the research on the control research of biomimetic robotic-fish are introduced.The content of this article made a brief introduction combined with domestic and international research status of biomimetic robotic-fish and pose control aspects of the development.Secondly,the fuzzy control algorithm is proposed for the pose control of biomimetic robotic-fish.The theory and the current application status of fuzzy control are introduced.The composition and design of the fuzzy controller are described in detail,which lays the foundation for designing the fuzzy controller.Thirdly,Swimming control of the robotic-fish involves a number of disciplines.The robotic-fish is a non-linear complex control system in the underwater environment.The chapter introduces the biomimetic robotic-fish movement control model based on the characteristics of bionic fish movement control.The function modules of the control system of the fish are introduced in detail according to the design of the corresponding core circuit board.Fourthly,The fuzzy control algorithm is compared with the traditional PID control algorithm,which shows that the fuzzy control algorithm has good performance,and the fuzzy controller is designed for the pose control of the bionic fish.Fifthly,the definition of pose error of bionic fish is introduced.It is proved that the fuzzy control algorithm can make the robot fish swim from one target pose to another target position through the relevant experiments.The chapter further explain the effectiveness and accuracy of the algorithm.Finally,The contents of the work of this article are summarized in detail.This paper describes the focus and main content of the next step.