半仿生机器鱼建模与编队控制研究

《半仿生机器鱼建模与编队控制研究》由会员上传分享，免费在线阅读，更多相关内容在学术论文-天天文库。

1、Üó’ŒÆƬÆØ©£ÆïÄ)¤K8µŒ•)Åì~ï†?è››ïÄŠöµÜÅRƉ(;’)µWì‰Æ†Eâ•“µî¥)Ç2017c9ÜSModelingandFormationControlofaClassofSemi-BiomimeticRoboticFishByZHANGShou-xuUndertheSupervisionofProfessorYANWei-shengAdissertationsubmittedtoNorthwesternPolytechnicalUniversityinpartialful¯llmentoftherequirementsforthe

2、degreeofDoctorofPhilosophyinArmamentScienceandTechnologyXi'an,P.R.ChinaSeptember2017Á‡Á‡~a²L·c`‘!g,ÀJ§®?zÑpí?•ª±9š…ÅÄ5U"Ïd§Äu•)Æn§ïÄ#.Ye•)Åì~§¦Ù3p!pÅÄ5ÚœU•¡ÅìC$–‡g,.¥~a§ò•°]muEâ‘5ãŒC€"†dÓž§‘XI[°ÔÑÜݧˆaYet&Úiÿ8Iò¬5p§ïÄYeÅì<Š››Eâ•äk4Ù•‡‰ÆÚó§¿Â"©Äué~aiÄÅ›ïħé˜aü'!Œ•)Åì~§¿±d

3、•ïIJ§ÐmÅì~ÄåÆï!Åì~$Ä››±9õÅì~?è››õ•¡ïħ•#.YeÅì~d3A^JønØÄ:±9Eâ

4、§••&¢Y))Ô1•$ÄÅ›ïÄJøŒ›Åì<²§äk›©•‡¿Â"Šâ8c•)Åì~ïÄyG†•3¯K§©̇ïÄSNÚM#:Xeµ(1)éyk•)Åì~ÄåÆ凌3¯K§©lXÚUþÝÑu§$^1aî.-.‚KF•§éÅì~XÚ?1ÄåÆï§ïáÅì~XÚ²ÄÄåÆ•§Ú=ÄÄåÆ•§§•©Yƒ'ïÄSNC½nØÄ:"(2)Œ7•)Åì~´ÉZ6¯K§©é•)Åì~XÚ´»‹l¯KÐmïħéXÚÄå

5、Æ.Œ›5?1î‚nØ©Û§æ^‡"‚5zOgŽ§ÏLš‚5G‡"ÚÄÖ€•{OXÚ´»‹l››Ž{§¿…$^Lyapunov•½5•{©ÛXÚ°•5§y²XÚék.6Ääk˜½³›Uå"ÏLꊕýéÅì~XÚ´»‹l››Ž{±9XÚék.6ij›Š^?1y"(3)é•)Åì~XÚUþ9$ŽUåk•¯K§©lõœUNXÚ&E˜—5nØçïÄõÅì~?è¯K§‰Ñõ•)Åì~XÚ&E˜—5Ï&Ƨ¿Äu“êãØ•£©ÛÙÂñ5"Ùg§(ÜÅì~ÄåÆ.§JÑÄu˜—5Åì~Ìlª?è››Ž{§¿ÏLꊕýynØÄ:"(4)é•)Åì

6、~•3YeÏ&É•!XÚUþ9$ŽUåk•¯K§©ïÄÄu¯‡°Ä…äk+öõÅì~?è››¯K§O˜«¯‡°Ä(>u)¼ê§?3~››Æ•#gê!ü$Ï&ÚOŽUÑÄ:þ¢y››8I§y››5U"ÏLELyapunov¼ê¦XÚ¢y?è››ž¤I‡XÚ››ë꧿ÏLꊕýéõÅì~?è››nØ©Û?1y"iÜó’ŒÆƬÆØ©Œ•)Åì~ï†?è››ïÄ'…cµŒ•)Åì~§ÄåÆ.§‹l››§?è››"iiAbstractAbstractAfterhundredsofmillionsofyearsofnaturalselection§¯shha

7、sevolvedtheex-traordinarycapabilityofpropulsionandmaneuverability.Therefore,thestudyofbiomimeticrobotic¯shwillbringgreatchangesintotheexploitationofmarinere-sourcesiftheycanhavecomparableperformanceintermsofe±ciency,maneuverabilityandintelligence.Atthesametime,theresearchonunderwaterroboticcol

8、laborativecontrolwillprovidescienti¯candengineeringfoundationforunderwaterexplorationandmonitoringtaskswhichareimportantforthenationalmaritimestrategy.Thisworkstudiesthemodelinganddynamicscontroloftherobotic¯sh,motioncontrol,andformatio