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- W3045532488 abstract "This paper presents a nonlinear control design for the stabilization of parallel and circular motion in a model school of robotic fish. The closed-loop swimming dynamics of the fish robots are represented by the canonical Chaplygin sleigh-a nonholonomic mechanical system driven by an internal rotor. The fish robots exchange relative state information according to a connected, undirected communication graph and form a system of coupled, nonlinear, second-order oscillators. Prior work on collective motion of constant-speed, self-propelled particles serves as the foundation of our approach. However, unlike the self-propelled particle, the fish robots follow limit-cycle dynamics to sustain periodic flapping for forward motion with a varying speed. Parallel and circular motions are achieved in an average sense. The proposed control laws do not include feedback linearization of the agents' dynamics. Numerical simulations illustrate the approach." @default.
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- W3045532488 date "2020-07-01" @default.
- W3045532488 modified "2023-10-16" @default.
- W3045532488 title "Planar Formation Control of a School of Robotic Fish" @default.
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- W3045532488 doi "https://doi.org/10.23919/acc45564.2020.9147969" @default.
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