根据人工势场法和振子相位一致性算法，设计了多水下机器人队形保持和艏向一致的编队控制算法。
A formation keeping and heading consensus controller was designed for MAUVS formation control, referencing the artificial potential algorithm and phase consensus algorithm of coupled oscillators.
其次，针对编队飞行卫星队形保持控制，以对地等张角绕飞编队为背景设计相对轨道模型预测控制算法。
Secondly, a model predictive control method is designed for the satellite formation keeping and formation of invariant angular to the ground as the background.
为了在各种队形下进行变换队形，本文将领航跟随者方法和基于行为的编队控制相结合，给出了一种新的混合编队控制方法。
It is not suitable to changing formation. In order to improve this approach, it is combined with the behavior-base approach.
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