Consensus-based leader-following formation control for a group of semi-biomimetic robotic fishes-Reference-Cited by-同舟云学术

Consensus-based leader-following formation control for a group of semi-biomimetic robotic fishes

Published:2017-07-01 Issue:4 Volume:14 Page:172988141772078
ISSN:1729-8814
Container-title:International Journal of Advanced Robotic Systems
language:en
Short-container-title:International Journal of Advanced Robotic Systems

Author:

Zhang Shouxu¹,Yan Weisheng¹,Xie Guangming²

Affiliation:

1. School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an, China

2. Center for Systems and Control, The State Key Laboratory of Turbulence and Complex Systems, College of Engineering, Peking University, Beijing, China

Abstract

In this article, we developed a consensus-based leader-following formation control algorithm for a group of robotic fishes modeled by Euler–Lagrange dynamics. The Euler–Lagrange dynamics has been simplified as a second-order dynamics using the input transformation technique. Two consensus-based formation control strategies are discussed under the scenario: (1) leader with constant velocity and (2) leader with time-varying velocity. Three formation-keeping examples are shown in the simulations to verify the obtained formation control algorithm.

Funder

China Postdoctoral Science Foundation

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/1729881417720784

Reference21 articles.

1. The Survival Value of Flocking in Birds: A Simulation Model

2. Flocks, herds and schools: A distributed behavioral model

3. A coordination architecture for spacecraft formation control

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