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

doi:10.1177/1729881417720784

CORC > 北京大学 > 工学院

	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).