基于三元模型的仿生鱼尾机器人动力学建模与摆动控制OA

With the development of underwater robotics,pneumatic-driven biomimetic fish-tail robots have attrac-ted widespread attention due to their high flexibility and low noise characteristics.However,the inherent nonlinear hysteresis and compliant properties of pneumatic actuators pose significant challenges for accurate dynamic model-ing and precise oscillation control of the fish-tail.To address these problems,a three-element dynamic model incor-porating spring,mass,and damping is established for the pneumatic biomimetic fish-tail robot,and model paramet-ers are identified using experimental data,effectively characterizing the complex nonlinear dynamic behavior of the robot.Furthermore,a feedforward-feedback composite control method is proposed,in which the feedforward input is generated based on the established model to enhance the system's response speed,while PID feedback is used to suppress modeling errors and external disturbances.The asymptotic stability of the closed-loop system is rigorously proven by using the Lyapunov theory.Experimental results demonstrate that,under various operating conditions including constant-frequency sine waves,variable-amplitude-variable-frequency signals,and random trajectories,the proposed method demonstrates higher tracking accuracy and dynamic adaptability compared to conventional PID control.Meanwhile,feedback compensation and parameter identification are also critical for improving tracking per-formance.Underwater experiments further validate the adaptability of the proposed method to parameter identifica-tion errors,unmodeled dynamics,and external disturbances.