机器鱼群体推进速度一致性研究

针对尾鳍推进机器鱼群体速度一致性问题,以动能映射特征方程为基础,提出了基于平行辨识的一致到达方法;并进一步提出了基于动能映射系数整定协议的速度同步方法. 具体实现为:首先为群体内的个体建立一簇运动学特征方程,并采用参数迭代学习辨识及自适应控制策略使机器鱼各自独立推进. 在速度目标相同的条件下,机器鱼群体最终趋近于等速运动;然后,通过建立稳态下的动能映射系数整定协议,由主机器鱼参数值整定群体参数,避免了不同个体测量误差带来的步调变化,实现群体速度的同步和前进姿态稳定. 仿真结果证明,该目标速度一致性实现方法是有效的. 

The Speed Consistency Research of Robotic Fish Group

On the basis of a kinetic energy mapping feature equation, a parallel-identifying implementation method for unifying the propulsive speed was proposed to address the speed consistency matter concerning a joint-caudal robotic fish group. As for the concrete implementation, firstly a series of kinematic feature equations were created for the group, while a parameter iterative learning identification and adaptive control policy was employed to achieve the independent propulsion for each one of the group. Assuming that every robotic fish obtains the same speed target, the whole group will finally tend to a uniform speed. Secondly, an adjusting protocol was created to avoid the speed discrepancy derived from individual measurement errors, and to achieve the synchronous and stable propulsion of the whole group, as the group's parameters were determined by the parameter values of a selected primary fish. Simulation results demonstrate the effectiveness of the implementation method.