华中农业大学工学院/农业农村部长江中下游农业装备重点实验室/ 农业农村部水产养殖设施工程重点实验室，武汉 430070
王懿偲，E-mail： 953909924@qq.com
夏英凯，E-mail： ykxia@mail.hzau.edu.cn
TP242;Q811;S951
中央高校基本科研业务费专项（2662020GXQD003）； 国家自然科学基金项目（52001132）
- WANG Yicai
WANG Yicai
College of Engineering/Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment for the Middle and Lower Reaches of the Yangtze River/ Key Laboratory of Aquaculture Facilities Engineering， Ministry of Agriculture and Rural Affairs， Huazhong Agricultural University，Wuhan 430070， China
在期刊界中查找
在百度中查找
在本站中查找 - XIA Yingkai
XIA Yingkai
College of Engineering/Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment for the Middle and Lower Reaches of the Yangtze River/ Key Laboratory of Aquaculture Facilities Engineering， Ministry of Agriculture and Rural Affairs， Huazhong Agricultural University，Wuhan 430070， China
在期刊界中查找
在百度中查找
在本站中查找 - ZHU Ming
ZHU Ming
College of Engineering/Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment for the Middle and Lower Reaches of the Yangtze River/ Key Laboratory of Aquaculture Facilities Engineering， Ministry of Agriculture and Rural Affairs， Huazhong Agricultural University，Wuhan 430070， China
在期刊界中查找
在百度中查找
在本站中查找 - ZENG Xin
ZENG Xin
College of Engineering/Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment for the Middle and Lower Reaches of the Yangtze River/ Key Laboratory of Aquaculture Facilities Engineering， Ministry of Agriculture and Rural Affairs， Huazhong Agricultural University，Wuhan 430070， China
在期刊界中查找
在百度中查找
在本站中查找 - QI Xianghong
QI Xianghong
College of Engineering/Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment for the Middle and Lower Reaches of the Yangtze River/ Key Laboratory of Aquaculture Facilities Engineering， Ministry of Agriculture and Rural Affairs， Huazhong Agricultural University，Wuhan 430070， China
在期刊界中查找
在百度中查找
在本站中查找
College of Engineering/Ministry of Agriculture and Rural Affairs Key Laboratory of Agricultural Equipment for the Middle and Lower Reaches of the Yangtze River/ Key Laboratory of Aquaculture Facilities Engineering， Ministry of Agriculture and Rural Affairs， Huazhong Agricultural University，Wuhan 430070， China
- 摘要 |
- 图/表 |
- 访问统计 |
- 参考文献 |
- 相似文献 |
- 引证文献 | |
- 文章评论
为方便监测水质与水下鱼群活动，本研究设计了一款面向全水域实时监测的水产养殖机器鱼，并搭建了机器鱼控制系统，开展了机器鱼三维路径跟踪控制研究。在Serret-Frenet坐标系下建立了机器鱼三维空间路径跟踪误差模型，并基于LOS制导律和李雅普诺夫理论设计了一种模糊滑模控制器，最后利用Matlab仿真对本研究提出的控制算法的有效性进行验证。仿真结果表明：所设计的控制器能使机器鱼在模型参数不确定性、外部干扰未知的情况下实现三维路径跟踪控制，其控制精度和鲁棒性明显优于常规PID与滑模控制器。
A robot fish in aquaculture for real-time monitoring of the whole water area was designed and a control system of robot fish was built to facilitate the monitoring of water quality and underwater fish activities. The three-dimensional spatial path tracking error model of the robotic fish was established in the Serret-Frenet coordinate system to realize the precise operation of the robotic fish and study the three-dimensional path tracking control of the robotic fish. Based on the LOS guidance law and Lyapunov theory， a fuzzy sliding mode controller was designed. The algorithm has the advantages of fast convergence speed and strong robustness. Finally， Matlab simulation was used to verify the effectiveness of the control algorithm proposed in this article. The results of simulation showed that the designed controller enables the robotic fish to realize three-dimensional path tracking control under the condition of model parameter uncertainty and unknown external disturbance， and its control accuracy and robustness are significantly better than those of conventional PID and sliding mode controllers.
引用本文
王懿偲,夏英凯,朱明,曾鑫,齐湘洪.水产养殖机器鱼设计与三维路径跟踪控制[J].华中农业大学学报,2022,41(4):259-270
复制
文章指标
- 点击次数:
- 下载次数:
- HTML阅读次数:
历史
- 收稿日期:2021-12-06
- 在线发布日期: 2022-10-12
文章二维码
