Research On Pose Control And Cooperative Ball-pushing Of Biomimetic Robotic Fish

The essence of Biomimetic Robotic Fish is the variation of robot fish pose, based onpose control whose effect influences the quality of the target task. Meanwhile, oneBiomimetic robotic is very limited in getting and disposing information and controlcapacity. Therefore, research in this paper on the arithmetic of pose control andcooperative ball-pushing of Biomimetic Robotic Fish is of practical significance in WaterPolo Game under the MURobotSys which have been independent developed by PekingUniversity.First, the character of pose and cooperation control, internal and external status wereintroduced in this paper along with the theories and methods, and the theory onBiomimetic Robotic Fish and the module of the MURobotSys for Biomimetic RoboticFish was summarized.Second, vector matrix by distance and error angle from the start pose to target posewere set up and then Lyapunov function by vector matrix established. On the abovefoundation, the method of path generation of Biomimetic Robotic Fish by giving startpose to target pose were studied and the experimental effect analyzed.Third, pose control by proposing a fuzzy sliding mode controller for the pose controlof Biomimetic Robotic fish was researched based on stability of Biomimetic Robotic Fishpose to pose, which is composed of sliding mode trace controller and fuzzy logic inferencemechanism. The arithmetic of point-to-point fuzzy control were taken into consideration,in order to reduce the angle and distance error from start pose to target pose by slidingmode tracking curve. And then, the feasibility and validity were verified of the fuzzysliding mode control on pose control for Biomimetic Robotic Fish.Further, Water Polo Game performs as the standard platform for the study onBiomimetic Robotic Fish cooperation. Considering the ball-pushing task, in which thedynamic roles of Robotic Fish are determined by attack and defense functions based onthe distances between Biomimetic Robotic Fish, the center of ball and directions of theRobotic Fish. The ball-pushing task is plotted into four subtasks which behaviors andarithmetic are plotted separately. And then it has been proved that it is effective andfeasible.Finally, future work is pointed out by summary and analysis on pose control andcooperative ball-pushing of Biomimetic Robotic Fish.