Robofish Formation Control Based on the Theory of Consensus

Abstract:

A formation control model is studied for robofishs. A consensus-based algorithm is proposed to maintain a specified time-varying geometric configuration for formation of Multi- Robofishs. In this approach, the proposed control strategy requires only the local neighbor-to-neighbor information between robofishs. Speed and heading angle synchronization is realized and the two dimensional space formation can be achieved by the proposed consensus algorithm. The effectiveness of the algorithms is demonstrated through detailed simulation studies both in Matlab and 2D Simulation Platform.

• Periodical: Applied Mechanics and Materials (Volume 319)
• Pages: 572-578
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.319.572
• Online since: May 2013
• Authors: Yan Song Deng
• Keywords: Consensus, Formation Control, Multi-Agent (MA), Robofish

References

[1] P.R. Chandler, M. Pachter and S. Rasmussen, UAV cooperative control, in Proceedingsof the 2001 American Control Conference, Vol. 1, p.50–55, 2001.

DOI: 10.1109/acc.2001.945512

[2] A. R. Girard, J. B. de Sousa, J. K. Hedrick, An overview of emerging results in networked multi-vehicle systems, in Proc. 40th IEEE Conf. Decision and Control, Orlando, FL, Dec. 2001: 1485–1490.

DOI: 10.1109/cdc.2001.981104

[3] Ryan A, Zennaro M, Howell A, et al. An overview of emerging results in cooperative UAV control, Proceedings of the 43rd IEEE Conference on Decision and Control, 2004,pp.602-607.

DOI: 10.1109/cdc.2004.1428700

[4] Ren W, Beard R W, Atkins E M. Information consensus in multi-vehicle cooperative control: collective group behavior through local interaction, IEEE Control System Magazine, vol. 27, 2007, pp.71-82.

[5] Chioi J, Kim Y. Fuel-efficient formation flight-control design based on energy maneuverability, Journal of Guidance, Control, and Dynamics, vol. 31,2008, pp.1145-1150.

DOI: 10.2514/1.34351

[6] Innocenti M, Polloni L, Turra D. A fuzzy approach to the guidance of unmanned air vehicles tracking moving targets, IEEE Transactions on Control System Technology, vol. 16, 2008, pp.1125-1137.

DOI: 10.1109/tcst.2008.917224

[7] Olfati-Saber R, Murray R M. Consensus problems in networks of agents with switching topology and time-delays, IEEE Transactions on Automatic Control, vol. 49, 2004, pp.1520-1533.

DOI: 10.1109/tac.2004.834113

[8] Ren W, Beard R W. Consensus seeking in multi-agent systems under dynamically changing interaction topologies, IEEE Transactions on Automatic Control, vol.50,2005,pp.655-661.

DOI: 10.1109/tac.2005.846556

[9] Xie G, Wang L. Consensus control for a class of networks of dynamic agents. International Journal of Robust and Nonlinear Control, vol.17, 2007, pp.941-959.

DOI: 10.1002/rnc.1144