鱼雷技术2011，Vol.19Issue(6)：438-442,5.
基于CPG神经网络的扑翼型UUV运动控制方法
A CPG-based Method for Motion Control of Flapping-wing UUV
摘要
Abstract
Traditional methods for robot motion control need complex dynamic and kinematic models, and are lack of real-time especially for the control tasks with multiple degrees of freedom (multi-dof). Central pattern generator (CPG) is good at dealing with multi-dof control tasks. This paper analyzes the flapping-wing's influence on UUV's motion, and proposes a CPG-based method for motion control of a flapping-wing UUV. The motion mode of the wings is controlled by using feedback signals, and two control laws for UUV's straight and turning motions are designed by adjusting the relations among CPG parameters, feedback control input, and CPG output. Simulation result indicates that the CPG-based method is feasible and effective.关键词
无人水下航行器/中枢模式发生器/扑翼航行器/反馈控制Key words
unmanned underwater vehicle(UUV)/central pattern generator (CPG)/flapping-wing vehicle/feedback control分类
军事科技引用本文复制引用
沈超,刘明雍,梁庆卫..基于CPG神经网络的扑翼型UUV运动控制方法[J].鱼雷技术,2011,19(6):438-442,5.基金项目
国家自然科学基金(50979093),新世纪优秀人才计划资助(NCET-06-0877),西北工业大学基础研究基金(JC200927). （50979093）
