基于事件驱动策略的多仿生机器鱼编队控制

张守旭; 王宝峰; 严卫生

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

doi: 10.11993/j.issn.2096-3920.2017.03.003

1.
西北工业大学航海学院, 陕西西安, 710072
2.
空军工程大学航空航天工程学院, 陕西西安, 710038

基金项目: 国家自然科学基金资助项目(61633002).

详细信息

作者简介:
张守旭(1989-), 男, 在读博士, 主要研究方向为机器鱼建模与编队控制

中图分类号: TP249; TP273
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- 文章访问数: 1244
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- 被引次数: 0
出版历程
- 收稿日期: 2016-11-19
- 修回日期: 2016-12-18
- 刊出日期: 2017-08-20

Leader-Followers Formation Control of a Group of Biomimetic Robotic Fishes Based on Event-Triggered Strategy

1.
School of Marine Science and Technology, Northwestern Polytechnical University, Xian 710072, China
2.
School of Aeronautics and Astronautics Engineering, Air Force Engineering University, Xian 710038, China

摘要

摘要: 针对多仿生机器鱼系统编队控制问题, 提出了基于事件驱动策略的控制设计方法。结合欧拉-拉格朗日方程建立了仿生机器鱼的动力学方程, 在具有单一领导者多跟随者的多机器鱼系统中引入了一般形式的时间触发函数, 使得多机器鱼在非持续通信情形下形成编队, 最后通过数值仿真验证了该控制方法的有效性。该方法不需要机器鱼系统的全局信息, 机器鱼只需要在触发时刻进行通信和控制器的更新, 从而可减少能量损耗, 更有利于实际应用。
- 仿生机器鱼 /
- 编队控制 /
- 事件驱动
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
- biomimetic robotic fish /
- formation control /
- event-triggered

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参考文献(11)

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