基于ADRC的机器鱼的路径跟踪研究

The Study For Path Following of Robotic Fish Based on ADRC

多关节机器鱼在水域进行路径跟踪时常常受到未知外界和内部干扰,为了获得高质量的跟踪效果,提出基于自抗扰技术(ADRC)的路径跟踪控制方法。结合三关节机器鱼的运动学及动力学方程,通过设定虚拟移动机器人,在Serret-Frenet坐标系下建立曲线路径的跟踪误差模型,通过引入期望角,分别设计前向和转向控制的制导函数,建立基于ADRC的二阶路径跟踪控制器,以提高机器鱼在路径跟踪过程中的快速性和鲁棒性。对曲线路径跟踪任务进行实验,实验表明本文提出的方法使机器鱼在3s左右就能够跟踪给定路径,位置误差基本保持在正负0.1m内。与常规PID控制方法进行对比,结果表明基于ADRC路径跟踪控制器能够快速跟踪给定的路径,抑制超调能力强和具有良好的控制精度。

The multi-joint robot fish is often subject to unknown external and internal disturbances during path following in water areas. In order to obtain high-quality tracking effect, a path following control method based on active disturbance rejection control(ADRC) is proposed in this paper. Combining the kinematics and dynamics equations of the three-joint robot fish, the model of error for path following was established in the Serret-Frenet coordinate system by setting the virtual mobile robot. Based on the introduction of expectation angle, the guidance functions of forward and steering control were designed respectively. Then the second-order path following controller based on ADRC was established to improve the robustness and rapidity of the robot fish in the tracking path. The simulation experiment show that the method proposed in this paper enables the robot fish to follow the given path at around 3 s, and the position error is basically kept within plus or minus 0.1 m. Compared with the conventional PID control method, the results show that path following controller based the ADRC can restrain overshoot very well, can quickly follow the given path, and has good accuracy.