Following control method based on intermittent gliding

The invention relates to a following control method based on intermittent gliding, and the method comprises the steps: obtaining the actual distance between a follower and a leader, adjusting the amplitude of a CPG controller through a PID controller according to the deviation between the actual distance and a set distance, and adjusting the switching between a flapping mode and a gliding mode of the follower. When the distance between the follower and the leader is too far and exceeds the following area, the follower is accelerated by increasing the amplitude of pectoral fins on the two sides of the follower until the follower enters the following area; when the follower is too close to the leader, the follower is decelerated by reducing the amplitude of pectoral fins on the two sides of the follower until the follower is in the following area. 本发明涉及一种基于间歇性滑扑的跟随控制方法，通过获取跟随者与领导者的实际距离，根据实际距离与设定距离的偏差，通过PID控制器调整CPG控制器的振幅，通过调整跟随者扑动模态与滑翔模态的切换，在跟随者与领导者距离太远超出跟随区时，通过增加跟随者两侧胸鳍的振幅使跟随者加速，直至跟随者进入跟随区；当跟随者与领导者距离太靠近，通过减少跟随者