Formation Control of Multiple Robotic Fish Based on Distributed Estimation and Fuzzy Control
LI Zonggang1,2, GUO Zhilong1, SHI Huirong1, XIE Guangming2
1. School of Mechanic and Electronic Engineering, Lanzhou Jiaotong University, Lanzhou 730070, China; 2. Center for Systems and Control, College of Engineering, Peking University, Beijing 100871, China
Abstract：This paper proposed a distributed and hierarchical scheme for formation control of multiple robotic fish. Firstly, each robotic fish takes consensus algorithm as a distributed data fusion modular to estimate the center of the formation, and then calculate its desired position in the formation at the next time. Such estimated results are the input variables of its path planning modular. Secondly, each robotic fish tracking its desired position by employing the fuzzy controller of linear speed and angular speed in order to form and maintain formation. The proposed method separates the distributed estimation and the path planning and behavior of robotic fish, such a property gives a new method for the cooperative control of multiple heterogeneous robotic fish. The results of experiment shows the validity of the proposed method.
李宗刚, 郭志龙, 石慧荣, 谢广明. 基于分布式估计与模糊控制的多机器鱼编队控制[J]. 复杂系统与复杂性科学, 2016, 13(3): 40-46.
LI Zonggang, GUO Zhilong, SHI Huirong, XIE Guangming. Formation Control of Multiple Robotic Fish Based on Distributed Estimation and Fuzzy Control[J]. Complex Systems and Complexity Science, 2016, 13(3): 40-46.
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