目前在大部份的文獻中，仿生機械魚主要致動方式仍是以馬達軌跡規畫為主；而以此方式作擺尾推進，勢必要面臨致動器之反作用力矩所造成的頭部振動動態，如何消除該動態便是仿生機械魚研究中的重要議題。文中將會簡介本實驗室所發展，以被動式振動吸收器為原理，進行擺尾推進之仿生機械魚；且說明其減振情形，以及推進效率不足的缺點。為了同時消除仿生機械魚頭部動態，以及保持良好的推進效率，本研究將以主動減振控制的方式來進行減振控制。在機構上加入飛輪減振機構，削弱仿生機械魚之頭部振動。在控制策略上，考慮到頭部動態為一周期性動態，故採用離線計算所得之前饋控制器，搭配即時性的LQR控制器。採用此混合控制器，期望盡可能發揮減振機構之減振效能。最後對魚體動態進行量測，驗證減振控制確實能增進推進效率，並且改善仿生機械魚之游行動態。

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