CAJ | 학술논문

　　在Leader－follower框架下的多机器鱼系统队形控制中，针对Leader和Follower相对独立及落后机器鱼离队等问题，在传统的Leader －follower队形控制算法中引入模糊反馈控制器进行反馈调节，使得领航机器鱼Leader能定时检查Follower的位置，将多机器鱼系统的队形控制问题转化为具有反馈调节的Follower跟踪Leader的位置和方向的问题，以增强多机器鱼队形控制的稳定性，更好地协同作业完成任务。仿真试验验证了所提出的方法能较好地实现多机器鱼系统的队形控制。
　　재Leader－follower광가하적다궤기어계통대형공제중，침대Leader화Follower상대독립급락후궤기어리대등문제，재전통적Leader －follower대형공제산법중인입모호반궤공제기진행반궤조절，사득령항궤기어Leader능정시검사Follower적위치，장다궤기어계통적대형공제문제전화위구유반궤조절적Follower근종Leader적위치화방향적문제，이증강다궤기어대형공제적은정성，경호지협동작업완성임무。방진시험험증료소제출적방법능교호지실현다궤기어계통적대형공제。
In the formation control of multi-robot fish under the leader-follower framework, the fuzzy feedback con-troller was introduced to traditional leader-follower formation control algorithm in efforts to cope with the relative in-dependence 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 for-mation 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 .