Bionic fish pose tracking control based on CPG sliding mode

In order to achieve the purpose of bionic fish pose tracking, this paper proposes a bionic fish pose tracking control algorithm based on the combination of CPG (central pattern generator) and sliding mode control. Firstly, this paper establishes a bionic fish CPG motion control network, and the conversion relationship between the CPG control parameters and the speed and angular velocity of the bionic fish is studied; Secondly, the bionic fish pose information obtained by the upper processor is used as the feedback input, Innovatively designed CPG-sliding mode controller with global progressive stability according to the tracking error of the bionic fish. Through real-time adjustment and control of the CPG parameters of the bionic fish's multi-modal swimming achieve the purpose of tracking the expected pose of the bionic fish; Finally, the effectiveness and feasibility of the control algorithm are verified through simulation and experiment.