具有动态领导者的多机器人系统包含控制研究  

Multi-Robot System with Dynamic Leader Containment Control Research

作　　者：王琳玮 邵星灵 杨卫[1] 荆诚 WANG Linwei;SHAO Xingling;YANG Wei;JING Cheng(State Key Laboratory of Electronic Testing Technology,North University of China,Taiyuan 030051 China;Beijing Aerospace Systems Engineering Institute,Beijing 100076,China)

机构地区：[1]中北大学电子测试技术国家重点实验室,山西太原030051 [2]北京宇航系统工程研究所,北京100076

出　　处：《电子器件》2020年第3期677-682,共6页Chinese Journal of Electron Devices

基　　金：山西省应用基础研究项目(201701D221123);国家自然科学基金项目(61803348)。

摘　　要：针对具有动态多领导者的多智能机器人包含控制问题,设计了一种基于一般连续时间线性动力学的多机器人系统模型与耦合增益自适应更新律包含控制方法。首先建立具有一般连续时间线性动力学的多机器人系统模型,其次使用图论描述多机器人系统中各机器人单体间的通信拓扑关系,然后设计了具有耦合增益自适应更新律的分布式包含控制协议实现所有跟随者最终都保持在领导者组成的凸包内并随其运动。此外该包含控制方法使得所有的跟随者只需参考邻居跟随者的信息而不需要接收全局信息,降低了系统的通信需求,增强了系统的稳定性和冗余性。仿真实验结果表明所提出的控制方法的有效性。A multi-robot system model based on general continuous-time linear dynamics and a coupled gain adaptive update law containment control method are designed for multi-intelligent robots with dynamic multi-leaders. Firstly,a multi-robot system model with general continuous-time linear dynamics is established. Secondly,graph theory is used to describe the communication topological relationship among robots in multi-robot systems. Then a distributed containment control protocol with coupled gain adaptive update law is designed. These achieve all followers to stay in the convex hull of the leader and move with it. In addition,the containment control method allows all followers to refer to the information of the neighbor followers without receiving global information,which reduces the communication requirements of the system and enhances the stability and redundancy of the system. Simulation results show the effectiveness of the proposed control method.

关 键 词：多机器人 分布式控制 包含控制 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程] TP13[自动化与计算机技术—控制科学与工程]