中国科学院机构知识库网格
Chinese Academy of Sciences Institutional Repositories Grid
Model-based event-triggered pursing and surrounding control for a multi-robotic fish system

文献类型:期刊论文

作者Dai, Shijie(戴时捷)2,3; Zhengxing Wu2; Sijie Li2,3; Jian Wang2; Min Tan2; Junzhi Yu1,2
刊名IEEE Robotics and Automation Letters
出版日期2023
卷号8期号:6页码:3788-3795
文献子类期刊论文
英文摘要

This paper investigates the event-triggered-based pursuing and surrounding control of a multi-robotic fish system. A distributed surrounding control framework is put forward to deploy the whole system and enclose the dynamic evader into a convex hull. In particular, distributed kinematics-based motion predictions are hold for common agents in the multi-robotic fish system in addition to the evader. Based on the optimal state estimations, an innovative model-based event-triggered mechanism is tailored rather than frequent interactions to evaluate the importance of the messages. Afterwards, a two-stage position-based surrounding control method is provided. By arbitrating the trade-off between the control performance and interaction frequency, the event-triggered function is regulated to delicately execute the surrounding control task while sharply slashing the interactions. Finally, adequate simulations and experiments are conducted to ensure the effectiveness and robustness of the proposed method. Therefore, whether for communication energy conservation or attack defense, the proposed method shows its significance for future marine assignments.

源URL[http://ir.ia.ac.cn/handle/173211/52018]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
作者单位1.北京大学北京大学湍流与复杂系统国家重点实验室
2.中国科学院自动化研究所复杂系统管理与控制国家重点实验室
3.中国科学院大学人工智能学院
推荐引用方式
GB/T 7714
Dai, Shijie,Zhengxing Wu,Sijie Li,et al. Model-based event-triggered pursing and surrounding control for a multi-robotic fish system[J]. IEEE Robotics and Automation Letters,2023,8(6):3788-3795.
APA Dai, Shijie,Zhengxing Wu,Sijie Li,Jian Wang,Min Tan,&Junzhi Yu.(2023).Model-based event-triggered pursing and surrounding control for a multi-robotic fish system.IEEE Robotics and Automation Letters,8(6),3788-3795.
MLA Dai, Shijie,et al."Model-based event-triggered pursing and surrounding control for a multi-robotic fish system".IEEE Robotics and Automation Letters 8.6(2023):3788-3795.

入库方式: OAI收割

来源:自动化研究所

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