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.
| 源语言 | 英语 |
|---|---|
| 页（从-至） | 1-8 |
| 页数 | 8 |
| 期刊 | International Journal of Advanced Robotic Systems |
| 卷 | 14 |
| 期 | 4 |
| DOI | |
| 出版状态 | 已出版 - 7月 2017 |