本論文嘗試進行仿生機械魚的動態行為的分析及強健導引律設計。於此研究中，仿生機械魚的動態行為之魚體剛體動態方程式與致動器間之轉換關係在無任何近似下之解析型式可被推導出來。此仿生機械魚因有考慮組成致動器，如頭部平衡系統、魚身擺動關節，與尾鰭等組成架構對仿生機械魚游動時的影響，故設計仿生機械魚時即可直接進行致動器等級的導引律設計。此機械魚乃由以下三個致動器系統: 1. 魚身平衡系統 2. 魚體擺動四連桿機械結構 與3. 尾鰭的組成來達仿生機械魚剛體動態方程式於立體空間中位置及姿態的調整以達成期望軌跡的追蹤目的。藉由上述分析完成之非線性仿生機械魚運動模型，此論文進一步的開發出兩款導引律。此兩款仿生機械魚導引律分別藉由回授線性化的概念及強健控制的概念來設計。經模擬驗證，可發現以強健性之導引律於海洋環境擾動及仿生機械魚系統不確定性的影響下具備相當良好軌跡追蹤性能。

關鍵字 :仿生機械魚，致動器等級設計，回授線性化，非線性的強健導引律，擾動

There are two main contributions delivered in this thesis. Firstly, one well-formulated robot fish model which contains the nonlinear rigid body dynamics and models of actuators is analytically integrated without any approximations. This fish robot is built up by three basic parts: 1. a balance mechanism, 2. four links structure, and 3. a caudal fin. In front of the fish robot’s head, there is a balance mechanism used to control the rotations in pitch and roll directions of the controlled fish robot by moving two movable masses. A four links structure with two active joints and one passive joint is designed to vibrate the fish’s body. In the end of the proposed fish robot, a caudal fin which connects with the passive joint is developed to generate hydrodynamic thrust forces to propel the fish robot. Second, based on the well-formulated model, a nonlinear guidance law with a robustness property is developed for the proposed fish robot to precisely track predefined trajectories and mitigate the effects of modeling uncertainties and ocean environmental disturbances simultaneously.

Keywords: nonlinear control law, fish robots, balance mechanism, link structure, disturbances.

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