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	Antiphase formation swimming for autonomous robotic fish
	Wang, Chen ; Cao, Ming ; Xie, Guangming
	2011
DOI	10.3182/20110828-6-IT-1002.02524
英文摘要	This paper proposes distributed control laws for formations of swimming robotic fish generating antiphase sinusoidal body waves. The control laws are inspired by the mathematical model for the hydrodynamics of schools of cruising fish, which reveals that fish swimming in diamond-shape formations with synchronized antiphase body waves can benefit greatly from energy saving. The phase dynamics of the body waves of the robotic fish are modeled by coupled Kuramoto oscillators and the stability analysis for the phase dynamics are carried out for coupling topologies corresponding to diamond-shape formations. It is proven that the body waves can be synchronized in specific antiphase patterns. Simulations and experiments further validate the effectiveness of the proposed control laws. ? 2011 IFAC.; EI; 0
语种	英语
内容类型	会议论文
源URL	[http://ir.pku.edu.cn/handle/20.500.11897/316901]
专题	工学院
推荐引用方式 GB/T 7714	Wang, Chen,Cao, Ming,Xie, Guangming. Antiphase formation swimming for autonomous robotic fish[C]. 见:.

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