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 language | English |
|---|---|
| Pages (from-to) | 1-8 |
| Number of pages | 8 |
| Journal | International Journal of Advanced Robotic Systems |
| Volume | 14 |
| Issue number | 4 |
| DOIs | |
| State | Published - Jul 2017 |
Keywords
- Formation control robotic fish leader-following Euler-Lagrange dynamics consensus