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Supervised by Ministry of Industry and Information Technology of The People's Republic of China Sponsored by Harbin Institute of Technology Editor-in-chief Yu Zhou ISSNISSN 1005-9113 CNCN 23-1378/T

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Related citation:Hong-Fei Han,Wen Tan.Experiments in Consensus-based Decentralized Information Feedback Control Strategies on a Real Robotic Fish Platform[J].Journal of Harbin Institute Of Technology(New Series),2013,20(5):62-68.DOI:10.11916/j.issn.1005-9113.2013.05.012.
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Experiments in Consensus-based Decentralized Information Feedback Control Strategies on a Real Robotic Fish Platform
Author NameAffiliation
Hong-Fei Han School of Control ＆ Computer, North China Electric Power University, Beijing 102206, China 
Wen Tan School of Control ＆ Computer, North China Electric Power University, Beijing 102206, China 
Abstract:
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 look-up table method and so on. The experimental results show the effectiveness of the consensus-based decentralized information feedback control strategies.
Key words:  decentralized feedback  formation control  communication graph  multi-robot systems
DOI：10.11916/j.issn.1005-9113.2013.05.012
Clc Number:TP242
Fund:

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