Distributed event-triggered formation control for a multi-robotic fish system | |
Dai, Shijie(戴时捷)2,3; Zhengxing Wu2; Min Tan2; Junzhi Yu1,2 | |
2022 | |
会议日期 | 5-7 August 2022 |
会议地点 | Harbin, China |
英文摘要 | This paper investigates the formation control problem for a multi-robotic fish system and a distributed event-triggered-based formation control framework is proposed. The framework consists of a communication topology, a distributed formation control law, and a dynamic event-triggered communication mechanism. In particular, a position-based formation control law is presented to drive the multi-robotic fish system to an anticipated configuration based on local measurements while keeping pace with a moving target. Meanwhile, a dynamic event-triggered mechanism is utilized to measure importance of the interactive information and decide the communication timing. The proposed formation control method shows its merits to greatly reduce communication consumption with a limited loss of formation control performance. Finally, simulations with quantitative comparisons are presented to verify the effectiveness of the proposed framework. This formation control framework provides a solid foundation for future marine cooperative control of the multi-robotic fish system. |
内容类型 | 会议论文 |
源URL | [http://ir.ia.ac.cn/handle/173211/52020] |
专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
作者单位 | 1.北京大学北京大学湍流与复杂系统国家重点实验室 2.中国科学院自动化研究所复杂系统管理与控制国家重点实验室 3.中国科学院大学人工智能学院 |
推荐引用方式 GB/T 7714 | Dai, Shijie,Zhengxing Wu,Min Tan,et al. Distributed event-triggered formation control for a multi-robotic fish system[C]. 见:. Harbin, China. 5-7 August 2022. |
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