期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2017
卷号：14
期号：4
DOI：10.1177/1729881417720784
语种：English
出版社：SAGE Publications
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.
关键词：Formation control robotic fish leader-following Euler–Lagrange dynamics consensus
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