Consensus-based leader-following formation control for a group of semi-biomimetic robotic fishes | |
Zhang, Shouxu ; Yan, Weisheng ; Xie, Guangming | |
刊名 | INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS |
2017 | |
关键词 | Formation control robotic fish leader-following Euler-Lagrange dynamics consensus MOBILE ROBOTS COORDINATION |
DOI | 10.1177/1729881417720784 |
英文摘要 | 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.; National Natural Science Foundation of China [51575005, 61503008, 61633002, 91648120]; SCI(E); ARTICLE; 4; 14 |
语种 | 英语 |
内容类型 | 期刊论文 |
源URL | [http://ir.pku.edu.cn/handle/20.500.11897/472147] |
专题 | 工学院 |
推荐引用方式 GB/T 7714 | Zhang, Shouxu,Yan, Weisheng,Xie, Guangming. Consensus-based leader-following formation control for a group of semi-biomimetic robotic fishes[J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS,2017. |
APA | Zhang, Shouxu,Yan, Weisheng,&Xie, Guangming.(2017).Consensus-based leader-following formation control for a group of semi-biomimetic robotic fishes.INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS. |
MLA | Zhang, Shouxu,et al."Consensus-based leader-following formation control for a group of semi-biomimetic robotic fishes".INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS (2017). |
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