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

Shouxu Zhang, Weisheng Yan, Guangming Xie

Research output: Contribution to journalArticlepeer-review

5 Scopus citations

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.

Original languageEnglish
Pages (from-to)1-8
Number of pages8
JournalInternational Journal of Advanced Robotic Systems
Volume14
Issue number4
DOIs
StatePublished - Jul 2017

Keywords

  • Formation control robotic fish leader-following Euler-Lagrange dynamics consensus

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