基于异步动态的多机器人系统的一致性  

Consensus in multi-robot systems based on asynchronous dynamics

作　　者：尹逊和[1] 樊雪丽 张红 

机构地区：[1]北京交通大学电子信息工程学院,北京100044 [2]北京市市政专业设计院股份责任公司,北京100037

出　　处：《系统工程与电子技术》2014年第12期2426-2434,共9页Systems Engineering and Electronics

基　　金：国家自然科学基金(61172022)资助课题

摘　　要：研究通过无线网络进行通信的多机器人系统的一致性问题。多机器人系统在固定通信拓扑下可建模为特定的网络控制系统,考虑信道噪声、不确定短时延和数据包丢失等因素的影响时,其可进一步视作由丢包率约束的异步动态系统。通过构造李雅普诺夫(Lyapunov)函数,运用线性矩阵不等式(linear matrix inequality,LMI)方法,得到了该系统指数稳定的充分条件。为实现多机器人系统的运动一致性,设计了控制器;讨论了不同的指数收敛率对多机器人系统收敛速度的影响,并进行了相应的理论证明和仿真验证。Consensus problems of multi-robot systems in which each robot communicates with the others over wireless networks are investigated.The multi-robot systems can be modeled as a kind of networked control systems under the fixed communication topology conditions,and further regarded as the asynchronous dynamic systems constrained by the packet loss probability when considering the influence factors such as channel noise, uncertain short delay and packet loss.By constructing the Lyapunov function and using the linear matrix ine-quality （LMI）method,the sufficient condition of exponential stability for the systems is obtained.A controller is designed to achieve the motion consensus of multi-robot systems.The effects of different exponential conver-gence rate on the convergence speed of multi-robot systems are discussed.Subsequently,the correlative theoret-ical demonstrations and simulation verifications are given.

关 键 词：多机器人系统 一致性问题 固定通信拓扑 网络控制系统 异步动态系统 

分 类 号：TP232[自动化与计算机技术—检测技术与自动化装置]