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

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