自动化学报2026，Vol.52Issue(5)：1018-1031,14.DOI:10.16383/j.aas.c250690
基于三元模型的仿生鱼尾机器人动力学建模与摆动控制
Dynamics Modeling and Oscillation Control of a Biomimetic Fish-tail Robot Based on a Three-element Model
摘要
Abstract
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.关键词
仿生机器人/气动驱动器/迟滞效应/摆动控制/三元模型Key words
biomimetic robots/pneumatic actuators/hysteresis effects/oscillation control/three-element model引用本文复制引用
孟庆鑫,熊阔,闫泽,王亚午,吴俊东,苏春翌..基于三元模型的仿生鱼尾机器人动力学建模与摆动控制[J].自动化学报,2026,52(5):1018-1031,14.基金项目
国家自然科学基金(62203408),湖北省青年科技人才培养项目(2025DJA064),高等学校学科创新引智计划(B17040),中国地质大学(武汉)"地大学者"人才岗位科研启动经费(2022088,2025013),中国地质大学(武汉)中央高校基本科研业务费(CUG250655)资助 Supported by National Natural Science Foundation of China(62203408),Hubei Province Youth Science and Technology Tal-ent Training Program(2025DJA064),111 Project(B17040),"CUG Scholar"Scientific Research Funds at China University of Geosciences(Wuhan)(2022088,2025013),and Fundamental Re-searcher Funds for the Central Universities,China University of Geosciences(Wuhan)(CUG250655) （62203408）
