Distributed Formation Control for a Multirobotic Fish System With Model-Based Event-Triggered Communication Mechanism

doi:10.1109/TIE.2022.3232659

CORC > 自动化研究所 > 中国科学院自动化研究所 > 多模态人工智能系统全国重点实验室

	Distributed Formation Control for a Multirobotic Fish System With Model-Based Event-Triggered Communication Mechanism
	Dai, Shijie 1,3; Wu, Zhengxing 1; Zhang, Pengfei 1,3; Tan, Min 1; Yu, Junzhi 1,2
刊名	IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
	2023-11-01
卷号	70 期号:11 页码:11433-11442
关键词	Formation control model-based eventtriggered mechanism (ETM) robotic fish underwater multiagent system
ISSN号	0278-0046
DOI	10.1109/TIE.2022.3232659
通讯作者	Wu, Zhengxing(zhengxing.wu@ia.ac.cn)
英文摘要	This article confronts the formation control problem for a multirobotic fish system with event-triggered communication mechanism. A 3-D distributed formation control framework is proposed to drive the robotic fish agents to an anticipated configuration aligning with a moving target. In particular, a consensus-based formation control law is intended to realize the two-stage formation control process. Taking the energy-constrained occasions into consideration, the communication structure and event-triggered protocols are initially tailored. Meanwhile, the Lyapunov function is employed and the globally asymptotic stability of the proposed method is fully demonstrated. Afterwards, making use of the local measurements of triggering times, the unscented Kalman filter is introduced and a novel model-based event-triggered mechanism is put forward to further mitigate otiose communication consumption. Finally, adequate simulations and experiments are carried out to verify the effectiveness and robustness of the proposed scheme. Thereby, the proposed formation control frame offers great potential for future practical marine operations of the underwater multiagent systems.
资助项目	National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[61973303] ; National Natural Science Foundation of China[U1909206] ; Youth Innovation Promotion Association CAS[2019138]
WOS关键词	MULTIAGENT SYSTEMS ; CONSENSUS
WOS研究方向	Automation & Control Systems ; Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000986714600061
资助机构	National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/53453]
专题	多模态人工智能系统全国重点实验室
通讯作者	Wu, Zhengxing
作者单位	1.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 2.Peking Univ, Dept Adv Mfg & Robot, Coll Engn, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial IntellIigence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Dai, Shijie,Wu, Zhengxing,Zhang, Pengfei,et al. Distributed Formation Control for a Multirobotic Fish System With Model-Based Event-Triggered Communication Mechanism[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(11):11433-11442.
APA	Dai, Shijie,Wu, Zhengxing,Zhang, Pengfei,Tan, Min,&Yu, Junzhi.(2023).Distributed Formation Control for a Multirobotic Fish System With Model-Based Event-Triggered Communication Mechanism.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(11),11433-11442.
MLA	Dai, Shijie,et al."Distributed Formation Control for a Multirobotic Fish System With Model-Based Event-Triggered Communication Mechanism".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.11(2023):11433-11442.