多机器人编队离散模型及队形控制稳定性分析  

Discrete-time modeling for multirobot formation and stability of formation control algorithm

作　　者：吴晋 张国良[1] 曾静[2] 徐君 

机构地区：[1]第二炮兵工程大学301教研室,陕西西安710025 [2]第二炮兵工程大学数学教研室,陕西西安710025

出　　处：《控制理论与应用》2014年第3期293-301,共9页Control Theory & Applications

基　　金：陕西省自然科学基金资助项目(2012K06–45)

摘　　要：针对包含绕心运动情况下的多机器人编队进行离散建模,并利用该模型解决保持队形期望前端始终朝着编队前进方向的控制问题.以控制多机器人编队收敛到期望的队形并镇定到预设运动规律上为目标,定义了一类通信拓扑图,基于该类图提出了一种分布式协同控制算法.给出了该控制算法下编队系统渐进稳定的充分必要条件及反馈控制参数的收敛域.证明了在该充分必要条件下可实现编队收敛到期望的队形和预设运动规律上的目标.仿真实验表明,在该算法控制下多机器人编队较好地收敛到期望队形并按预设规律运动,且过程中始终保持队形期望前端朝着编队前进方向,进而验证了该算法的有效性和正确性.For the distributed multirobot formation with revolving round,a discrete-time kinematic model for the formation center is developed,and is applied to keep the desired front-end to turn towards the moving direction.A kind of communication topology graph is defined by which the robots converge to the desired geometry formation with desired motion rules.Then,a distributed discrete coordination control algorithm is proposed based on that graph.A sufficient and necessary condition of asymptotic stability of the formation system and the convergence region of feedback control parameter are given.It is proved that the formation can converge to the desired geometry formation with desired motion rules under this sufficient and necessary condition.Simulation results validate the efficacy of the control algorithm in achieving these goals.

关 键 词：队形控制 运动模型 稳定性分析 分布式控制 代数图论 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]