Consensus-based leader-following formation control for a group of semi-biomimetic robotic fishes. (13th July 2017)

• Record Type: Journal Article
• Authors: Zhang, Shouxu; Yan, Weisheng; Xie, Guangming
• Is Part Of: International journal of advanced robotic systems. Volume 14:Number 4(2017:Jul./Aug.)
• Publication Date: 2017-07-13
• Subjects: Formation control robotic fish leader-following Euler–Lagrange dynamics consensus; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881417720784
• Languages: English
• ISSNs: 1729-8806

Abstract

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.