Leader–Follower Flocking of Multiple Robotic Fish


During this paper, we tend to study cohesive flocking and formation flocking of multiple robotic fish swimming in the water surface under the steerage of only one leader with zero-worth external input. Combining consensus algorithms and attraction/repulsion functions, a distributed flocking algorithm is proposed for the robotic fish system to execute the cohesive flocking task. In keeping with the LaSalle–Krasovskii invariance principle, the proposed algorithm permits followers to asymptotically track the leader's velocity and approach the equilibrium distances with their neighbors, provided that the initial interaction network of the system could be a leader–follower connected graph. Furthermore, by adding the information of a desired formation topology to the potential perform term, the proposed algorithm can be extended to solve arbitrarily formed formation flocking downside of multiple robotic fish. The experimental results demonstrate that the proposed approaches are effective for three robotic fish. Finally, many simulation examples are given to verify the functionality of the proposed approaches for a larger system with 10 agents.

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