Abstract
A distributed leader-follower flocking problem of multiple robotic fish governed by extended second-order unicycles is studied in this paper. The multi-agent system consists of only one leader with pre-appointed and bounded speeds. A distributed flocking algorithm on the basis of the combination of consensus and attractive/repulsive functions is investigated, in which adaptive strategy is adopted to compute the weight of the velocity coupling strengths. The proposed control algorithm enables followers to asymptotically track the leader’s varying velocities and approach the equilibrium distances with their neighbors. Furthermore, the arbitrarily-shaped formation flocking problem of the system can also be solved by adding the information of a desired formation topology to the potential function term. Finally, simulations are carried out to verify the effectiveness of the proposed theoretical results.
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Yongnan Jia received her Bachelor’s degree in Electrical Science and Technology from Beijing University of Technology in 2007. She is currently a PhD candidate in Intelligent Control Laboratory, College of Engineering, Peking University. Her research interests include intelligent underwater robots, biomimetic underwater robots, and collective behaviors of multi-robot systems.
Weicun Zhang received his Doctor’s degree in Control Theory from Tsinghua University (Beijing) in 1993. He has been a visiting research fellow at the University of Michigan from 1997 to 1998, and is currently an associate professor of University of Science and Technology Beijing. His research interests include adaptive control, multi-agent system, positioning and navigation of unmanned vehicles.
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Jia, Y., Zhang, W. Distributed adaptive flocking of robotic fish system with a leader of bounded unknown input. Int. J. Control Autom. Syst. 12, 1049–1058 (2014). https://doi.org/10.1007/s12555-013-0518-6
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DOI: https://doi.org/10.1007/s12555-013-0518-6