The formation control of multi-robot fish based on leader-follower and fuzzy feedback mechanism

摘要

In the formation control of multi-robot fish under the leader-follower framework,the fuzzy feedback controller was introduced to traditional leader-follower formation control algorithm in efforts to cope with the relative independence of the leader and followers,as well as the desertion of the laggard robot fishes.The goal was to ensure that the pilot robotic fish could check the position of followers regularly.In order to enhance the stability of the formation control of multi-robot fish and complete the task of collaborative operation,the formation control problem of multi-robot fish system was transformed into the problem of followers' tracking the position and orientation of the leader with the addition of the feedback regulation.Simulations verify that the proposed method can better realize the formation control of the robotic fish system.