水下无人系统学报2017，Vol.25Issue(3)：231-236,6.DOI:10.11993/j.issn.2096-3920.2017.03.003
基于事件驱动策略的多仿生机器鱼编队控制
Leader-Followers Formation Control of a Group of Biomimetic Robotic Fishes Based on Event-Triggered Strategy
摘要
Abstract
For leader-followers formation control of a group of biomimetic robotic fishes,a dynamical equation of the biomimetic robotic fishes is built based on the Euler-Lagrange equation.An event-triggered control strategy is proposed for the formation of robotic fishes system with one leader and multiple followers.With the introduction of a general time triggering function,formation can be achieved without continuous communication.Since global information about the multiple robotic fishes system is not required,and the system only needs to update the communication and control input at triggering moment,thus energy consumption is reduced,which facilitates the applicability of the proposed control method.Numerical simulation verifies the effectiveness and efficiency of the method.关键词
仿生机器鱼/编队控制/事件驱动Key words
biomimetic robotic fish/formation control/event-triggered分类
信息技术与安全科学引用本文复制引用
张守旭,王宝峰,严卫生..基于事件驱动策略的多仿生机器鱼编队控制[J].水下无人系统学报,2017,25(3):231-236,6.基金项目
国家自然科学基金资助项目(61633002). （61633002）
