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A fuzzy adaptive sliding mode based method was designed to control the precise pitching motion of a bionic robotic fish in response to the problem of numerous gait control parameters and imprecise dynamics modelling for the co-propulsion of 3-degree-of-freedom pectoral fins, flexible body and caudal fin. Firstly, based on the given 3-degree-of-freedom pectoral fin and flexible body co-propulsion motion law, the relationship between the fish body thrust/moment and the pectoral fin phase difference and body fluctuation frequency was established by the least-squares method using CFD numerical simulation. Secondly, the designed fuzzy adaptive sliding mode controller was used to achieve the free-diving motion of the robotic fish, taking the smooth curve with the current and the desired depth levels as asymptotes, as the desired motion trajectory. The fuzzy adaptive sliding mode controller was designed to achieve the free diving motion of the machine fish. The fuzzy controller was used to analyse and calculate the adaptive law of fuzzy control rule to compensate the uncertainty term of the dynamics model and the disturbance term of the water current during the movement of the robot fish in real time, and combined with the sliding mode controller to reduce the system jitter to achieve the accurate tracking of the trajectory. Finally, the results of the simulation and the pool experiments show that the robot fish is able to swim between different depths in a fast and smooth manner, and the movement trajectories are smooth with the maximal depth deviation of only 0.08 m, and the steady state error remains at 0.04 m, verifying the effectiveness of the proposed method.
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| 科 Family | 属数 Number of genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) | 属 Genus | 种数 Number of species | 占总种数比例 Percentage of total species (%) |
|---|---|---|---|---|---|---|
| 鹅膏菌科Amanitaceae | 2 | 11 | 5.26 | 鹅膏菌属 Amanita | 10 | 4.78 |
| 小菇科 Mycenaceae | 2 | 12 | 5.74 | 丝盖伞属 Inocybe | 5 | 2.39 |
| 多孔菌科 Polyporaceae | 8 | 14 | 6.70 | 蜡蘑属 Laccaria | 5 | 2.39 |
| 红菇科 Russulaceae | 3 | 23 | 11.00 | 小皮伞属 Marasmius | 6 | 2.87 |
| 小菇属 Mycena | 11 | 5.26 | ||||
| 光柄菇属 Pluteus | 5 | 2.39 | ||||
| 红菇属 Russula | 17 | 8.13 | ||||
| 栓菌属 Trametes | 5 | 2.39 |
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