Distributed Formation Control for a Multirobotic Fish System With Model-Based Event-Triggered Communication Mechanism
文献类型：期刊论文
| 作者 | Dai, Shijie2,3 ; Wu, Zhengxing2; Zhang, Pengfei2,3; Tan, Min2; Yu, Junzhi1,2
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| 刊名 | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
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| 出版日期 | 2023-11-01 |
| 卷号 | 70期号:11页码:11433-11442 |
| 关键词 | Formation control model-based eventtriggered mechanism (ETM) robotic fish underwater multiagent system |
| ISSN号 | 0278-0046 |
| DOI | 10.1109/TIE.2022.3232659 |
| 通讯作者 | Wu, Zhengxing(zhengxing.wu@ia.ac.cn) |
| 英文摘要 | This article confronts the formation control problem for a multirobotic fish system with event-triggered communication mechanism. A 3-D distributed formation control framework is proposed to drive the robotic fish agents to an anticipated configuration aligning with a moving target. In particular, a consensus-based formation control law is intended to realize the two-stage formation control process. Taking the energy-constrained occasions into consideration, the communication structure and event-triggered protocols are initially tailored. Meanwhile, the Lyapunov function is employed and the globally asymptotic stability of the proposed method is fully demonstrated. Afterwards, making use of the local measurements of triggering times, the unscented Kalman filter is introduced and a novel model-based event-triggered mechanism is put forward to further mitigate otiose communication consumption. Finally, adequate simulations and experiments are carried out to verify the effectiveness and robustness of the proposed scheme. Thereby, the proposed formation control frame offers great potential for future practical marine operations of the underwater multiagent systems. |
| WOS关键词 | MULTIAGENT SYSTEMS ; CONSENSUS |
| 资助项目 | National Natural Science Foundation of China[62033013] ; National Natural Science Foundation of China[62022090] ; National Natural Science Foundation of China[61973303] ; National Natural Science Foundation of China[U1909206] ; Youth Innovation Promotion Association CAS[2019138] |
| WOS研究方向 | Automation & Control Systems ; Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000986714600061 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | National Natural Science Foundation of China ; Youth Innovation Promotion Association CAS |
| 源URL | [http://ir.ia.ac.cn/handle/173211/53453]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Wu, Zhengxing |
| 作者单位 | 1.Peking Univ, Dept Adv Mfg & Robot, Coll Engn, State Key Lab Turbulence & Complex Syst,BIC ESAT, Beijing 100871, Peoples R China 2.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China 3.Univ Chinese Acad Sci, Sch Artificial IntellIigence, Beijing 100049, Peoples R China |
| 推荐引用方式 GB/T 7714 | Dai, Shijie,Wu, Zhengxing,Zhang, Pengfei,et al. Distributed Formation Control for a Multirobotic Fish System With Model-Based Event-Triggered Communication Mechanism[J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,2023,70(11):11433-11442. |
| APA | Dai, Shijie,Wu, Zhengxing,Zhang, Pengfei,Tan, Min,&Yu, Junzhi.(2023).Distributed Formation Control for a Multirobotic Fish System With Model-Based Event-Triggered Communication Mechanism.IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS,70(11),11433-11442. |
| MLA | Dai, Shijie,et al."Distributed Formation Control for a Multirobotic Fish System With Model-Based Event-Triggered Communication Mechanism".IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS 70.11(2023):11433-11442. |
入库方式： OAI收割
来源：自动化研究所
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