基于领航跟随的多机器人系统有限时间一致性控制研究  

The Finite Time Consistency Control of Multi-RobotSystems Based on Leader-Following

作　　者：孙玉娇 杨洪勇[1] 于美妍 SUN Yujiao;YANG Hongyong;YU Meiyan(School of information and electrical engineering,Ludong University,Yantai 264025,China)

机构地区：[1]鲁东大学信息与电气工程学院,山东烟台264025

出　　处：《复杂系统与复杂性科学》2020年第4期66-72,84,共8页Complex Systems and Complexity Science

基　　金：国家自然科学基金(61673200)。

摘　　要：在人工智能应用中,多机器人可以解决实际工程中的复杂问题,成为机器人领域中研究热点。针对非完整移动机器人在饱和控制输入情况下的编队控制问题,构建了一种输入受约束的有限时间一致性算法。运用代数图论、现代控制理论和矩阵论等分析工具,通过引入虚拟领航者把多机器人系统的编队问题转化为路径跟踪问题,证明了在输入饱和受限条件下多机器人系统可以实现有限时间收敛,并且得到了系统有限时间内收敛的充分条件。最后通过计算机仿真验证了所提算法的有效性。In the application of artificial intelligence,the cooperation of multi robots can solve complex problems in practical engineering and become the research hotspot.In this paper,an input-constrained finite-time consistency algorithm is proposed to solve the formation control problem of nonholonomic mobile robots.By using the analysis tools such as algebraic graph theory,modern control theory and matrix theory,the formation problem of multi-robot system is transformed into the path tracking problem by introducing the virtual navigator.It is proved that the multi-robot system can realize the finite time convergence under the condition of input saturation.And the sufficient condition is obtained in finite time.Finally,the effectiveness of the proposed algorithm is verified by computer simulation.

关 键 词：有限时间 领航跟随 编队控制 非线性系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]