Path-Following Control of an Amphibious Robotic Fish Using Fuzzy-Linear Model Predictive Control Approach

摘要

This paper investigates the path-following (PF) control problem of an amphibious robotic fish propelled by median and paired fin (MPF), in which a linear model predictive control (LMPC) method is presented based on a fuzzy logic controller. Specifically, with full consideration paid to the used robot platform, the current target point is calculated by using the line-of-sight (LOS) guidance method. According to the discrete linear time-varying model, the LMPC controller is further detailed. Furthermore, using the appropriate fuzzy rules, the calculated input is transformed into a controllable offset rotation angle. Finally, numerical simulations are performed to demonstrate the effectiveness of the proposed control law. This work contributes to constrained PF control issue of a MPF-propelled swimming robot which has been rarely explored, and offers insight into the trajectory tracking problem in extreme environments.