Experimental implementation of distributed flocking algorithm for   multiple robotic fish

doi:10.1016/j.conengprac.2014.05.004

CORC > 北京大学 > 工学院

	Experimental implementation of distributed flocking algorithm for multiple robotic fish
	Jia, Yongnan ; Wang, Long
刊名	control engineering practice
	2014
关键词	Flocking Robotic fish Distributed control Non-holonomic constraints Intrinsic uncertainties and external disturbances AGENTS COORDINATION NETWORKS SYSTEMS
DOI	10.1016/j.conengprac.2014.05.004
英文摘要	This paper presents the experimental implementation of a flocking algorithm for multiple robotic fish governed by extended second-order unicycles. Combing consensus protocols with attraction/repulsion functions, a flocking algorithm is proposed to make the agents asymptotically converge to swim with consistent velocities and approach the equilibrium distances to their neighbors. The LaSalle-Krasovskii invariance principle is applied to verify the stability of the system. Besides numerical simulations, platform simulations involving robotic fish kinematic constraint and control mechanism are shown. An experiment with three robotic fish is implemented to illustrate the effectiveness of the proposed flocking algorithm in the presence of external disturbance and boundary collision. (C) 2014 Elsevier Ltd. All rights reserved.; http://gateway.webofknowledge.com/gateway/Gateway.cgi?GWVersion=2&SrcApp=PARTNER_APP&SrcAuth=LinksAMR&KeyUT=WOS:000341348900001&DestLinkType=FullRecord&DestApp=ALL_WOS&UsrCustomerID=8e1609b174ce4e31116a60747a720701 ; Automation & Control Systems; Engineering, Electrical & Electronic; SCI(E); EI; 2; ARTICLE; ynjia@pku.edu.cn; ,SI; 1-11; 30
语种	英语
内容类型	期刊论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/154199]
专题	工学院
推荐引用方式 GB/T 7714	Jia, Yongnan,Wang, Long. Experimental implementation of distributed flocking algorithm for multiple robotic fish[J]. control engineering practice,2014.
APA	Jia, Yongnan,&Wang, Long.(2014).Experimental implementation of distributed flocking algorithm for multiple robotic fish.control engineering practice.
MLA	Jia, Yongnan,et al."Experimental implementation of distributed flocking algorithm for multiple robotic fish".control engineering practice (2014).