带扰动的多非完整移动机器人分布式有限时间一致性控制  

Distributed finite-time consensus algorithm for multiple nonholonomic mobile robots with disturbances

作　　者：姜玉涛 刘忠信[1,2] 陈增强 JIANG Yu-tao;LIU Zhong-xin;CHEN Zeng-qiang(College of Computer and Control Engineer,Jinnan Campus,Nankai University,Tianjin 300353,China;Tianjin Key Laboratory of Intelligent Robotics,Tianjin 300353,China)

机构地区：[1]南开大学津南校区计算机与控制工程学院,天津300353 [2]天津市智能机器人技术重点实验室,天津300353

出　　处：《控制理论与应用》2019年第5期737-745,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(61573200,61573199)资助~~

摘　　要：论文研究多个非完整移动机器人在控制输入存在干扰时,有限时间一致性控制问题.利用坐标变换,将多移动机器人系统的一致性问题转化为非完整约束链式系统的一致性问题,在控制输入带有未知有界干扰的条件下,设计了一种分布式控制算法,并利用Lyapunov理论证明了该算法能够使移动机器人的各个状态在有限时间内达到一致.最后通过数值仿真验证了算法的有效性.This paper addresses the algorithm of finite-time consensus problem for multiple nonholomic mobile robots with disturbances. Coordinate transformation is used to convert the mobile robot kinematics into multiple nonholomic chained-form systems. Under the restriction of bounded disturbances, distributed control laws are designed for achieving the consensus objectives. Rigorous proof using Lyapunov theory shows that the sates of all mobile robots can reach a consensus in finite time. Finally, simulations are provided to verify the efficiency of the proposed method.

关 键 词：非完整移动机器人 非完整约束链式系统 有界干扰 有限时间一致 分布式控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]