基于势函数的多机器人系统的编队控制  

Formation Control of Multiple Robot System Based on Potential Function

作　　者：贾秋玲[1] 闫建国[1] 王新民[1] 

机构地区：[1]西北工业大学自动化学院,陕西西安710072

出　　处：《机器人》2006年第2期111-114,共4页Robot

基　　金：航空基金资助项目(04E09002)

摘　　要：提出了一种基于势函数的、能够有效地对多机器人系统的编队队形进行稳定性分析和分布控制的方法.文章通过选择适当的、与目标和结构相关的势函数,利用图论知识和李亚普诺夫稳定理论,设计了一种新颖的能够稳定机器人编队队形并有效跟踪目标的分布控制律,并给出了多机器人系统编队队形稳定及控制问题有解的充分条件.算例仿真说明了这种控制方法的有效性.A new control method based on potential function is presented, which can effectively analyze the stability of the formation of a multiple robot system and can control the formation in a distributed manner. Proper potential functions related to the object and the structure of the formation is chosen, and a new distributed control law is designed with graph theory and Lyapunov stability theory, which can stabilize the formation of the multiple robot system and can track the object effectively. The suffieient condition for the solvability of the formation control of multiple robot system is given. Numerical simulation proves the validity of the proposed formation control law.

关 键 词：多机器人系统 势函数 图论 李亚普诺夫稳定性理论 编队控制 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]