利用方位角观测的多机器人系统离散分布式最优围陷控制  

Discrete-time distributed optimal entrapment for multi-robot systems using bearing measurements

作　　者：付瑛博 杨紫雯 朱善迎 陈彩莲[1,2,3] FU Ying-bo;YANG Zi-wen;ZHU Shan-ying;CHEN Cai-lian(Department of Automation,Shanghai Jiao Tong University,Shanghai 200240,China;Key Laboratory of System Control and Information Processing,Ministry of Education of China,Shanghai 200240,China;Shanghai Engineering Research Center of Intelligent Control and Management,Shanghai 200240,China)

机构地区：[1]上海交通大学自动化系,上海200240 [2]系统控制与信息处理教育部重点实验室,上海200240 [3]上海工业智能管控工程技术研究中心,上海200240

出　　处：《控制理论与应用》2022年第10期1815-1824,共10页Control Theory & Applications

基　　金：Supported by the National Natural Science Foundation of China(61922058,62103277,62025305);the Fellowship of China National Postdoctoral Program for Innovative Talents(BX2021181)。

摘　　要：本文研究了离散时间多机器人系统对静态目标的同步定位与围陷问题.首先,为了引导多机器人系统以任意编队在任意轨道上运动,本文提出了基于虚拟系统法的路径规划方案.其次,为了实现在缺少机器人全局位置信息下的目标定位与跟踪问题,本文设计了基于方位角观测的离散时间估计器与控制器的联合设计方法.估计器充分利用了正交性质估计实时相对位移,并基于估计值设计控制律.基于离散时域拉塞尔原理与迭代法,本文给出了估计误差与跟踪误差收敛的充分条件与稳定性证明.此外,本文还设计了一种增益调整优化算法以提高收敛速率,使得离散时间多机器人系统可以更快达到理想编队.最后,仿真实验结果证明了整体方案的有效性.In this paper,we investigate the problem of simultaneous localization and entrapment of a static target by robots with discrete-time dynamics.Firstly,aiming to lead the multi-robot system to move on an arbitrarily shaped orbit in an arbitrarily shaped formation,a scheme for path planning based on the virtual system is proposed.Secondly,in order to locate and entrap the target without global positioning information of robots,a joint discrete-time estimator-controller using relative bearing-only measurements is proposed.The estimator is designed by exploiting the orthogonality property,and based on this estimator,the controller is developed.Using LaSalle’s theorem for the discrete systems and iterative method,we propose the sufficient conditions under which the convergence of estimation error and tracking error is proved.Moreover,to improve the overall performance,an optimal gains tuning method is developed,so that discrete-time robots can achieve the desired formation at a faster convergence speed.Finally,simulation results are presented to verify the effectiveness of the overall scheme.

关 键 词：多机器人系统 离散时间 纯方位测量 优化增益 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]