Experiments in Consensus-based Decentralized Information Feedback Control Strategies on a Real Robotic Fish Platform

作     者：Hong-Fei Han Wen Tan 

作者机构：School of Control & ComputerNorth China Electric Power University 

出 版 物：《Journal of Harbin Institute of Technology(New Series)》 (哈尔滨工业大学学报（英文版）)

年 卷 期：2013年第20卷第5期

页      面：62-68页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：Sponsored by the National Natural Science Foundation of China(Grant No.61174096) 

主　　题：decentralized feedback formation control communication graph muhi-robot systems 

摘      要：A decentralized information feedback mechanism was introduced to a group of mobile robots such that the robots asymptotically converge to a given moving formation. While various distributed cooperative control strategies have been studied in theory,few of them have been systematically validated on experimental platforms. This paper demonstrates the experimental results of consensus-based decentralized information feedback mechanism on a multiple mobile robotic fish platform. In this paper, we firstly introduced a fundamental consensus algorithm for systems model and the cooperative control experimental platform,and then experimentally implemented and validated the formation control algorithm through setting transit point and lookup table method and so on. The experimental results show the effectiveness of the consensus-based decentralized information feedback control strategies.