基于事件驱动策略的多仿生机器鱼编队控制
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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。
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 formationof 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.
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 formationof 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.
引文
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[3]Justh E W,Krishnaprasad P S.A Simple Control Law for UAV Formation Flying[R].USA:University of Maryland,2002.
[4]Kapila V,Sparks A G,Buffington J M,et al.Spacecraft Formation Flying:Dynamics and Control[J].Journal of Guidance Control&Dynamics,2015,6(3):4137-4141.
[5]Desai J P,Ostrowski J,Kumar V.Controlling Formations of Multiple Mobile Robots[C]//Belgium:IEEE International Conference on Robotics and Automation,1998.
[6]Johansson K H,Dimarogonas D V.Event-triggered Control for Multi-agent Systems[J].IEEE Conference on Decision&Control,2017,57(5):7131-7136.
[7]Xie D,Yuan D,Lu J,et al.Consensus Control of Secondorder Leader–follower Multi-agent Systems with Eventtriggered Strategy[J].Transactions of the Institute of Measurement&Control,2013,35(4):426-436.
[8]王航飞,禹梅,谢广明,等.基于事件驱动的多智能体系统的环形编队控制[C]//南京:中国控制会议,2014:1321-1326.
[9]马鸣宇,董朝阳,王青,等.基于事件驱动的多飞行器编队协同控制[J].北京航空航天大学学报,2017,43(3):506-515.Ma Ming-yu,Dong Chao-yang,Wang Qing,et al.Eventbased Multi-aircraft Formation Control[J].Journal of Beijing University of Aeronautics and Astronautics,2017,43(3):506-515.
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