机器鱼双闭环正弦形轨迹跟踪控制方法

为实现机器鱼位置和姿态的实时轨迹跟踪控制，通过将姿态控制作为内环、位置控制作为外环的方式设计双闭环控制算法。内环通过采用滑模控制器使得其收敛速度大于外环，保证闭环控制系统整体稳定性，通过李亚普诺夫稳定性定理证明机器鱼位置姿态双闭环控制系统具有渐近稳定性。仿真结果表明：该方法可有效控制机器鱼纵垂面轨迹的实时追踪；实验中机器鱼完成预设运动共耗时12 s，其轨迹最大误差和平均误差分别为0.078 m和 0.052 m，验证了双闭环算法在机器鱼轨迹跟踪控制中的有效性和高效性。

Double-closed-loop Sinusoidal Trajectory Tracking Control Method for Robot Fish

In order to realize the real-time trajectory tracking control of the position and attitude of the robotic fish, a double closed-loop control algorithm is designed by taking the attitude control as the inner loop and the position control as the outer loop. The convergence rate of the inner loop is faster than that of the outer loop by using the sliding mode controller to ensure the overall stability of the closed-loop control system. The Lyapunov stability theorem proves that the position and attitude double closed-loop control system of robotic fish is asymptotically stable. The simulation results show that the method can effectively control the robot fish to track the vertical trajectory in real time; in the experiment, the robot fish takes 12 s to complete the preset movement, and the maximum error and average error of the trajectory are 0.078 m and 0.052 m, respectively, which verifies the effectiveness and efficiency of the double closed-loop algorithm in the trajectory tracking control of robot fish.