基于角度信息的非完整系统多智能体编队控制  

Nonholonomic Formation Control of Multi-Robot System Based on Angle Information

作　　者：崔雯璐 CUI Wenlu(School of Electrical and Automotive Engineering,Yangzhou Polytechnic College,Yangzhou,Jiangsu 225000,China)

机构地区：[1]扬州市职业大学电气与汽车工程学院,江苏扬州225000

出　　处：《自动化应用》2023年第17期7-11,共5页Automation Application

摘　　要：本文设计了一种基于角度测量信息的非完整系统多智能体编队控制算法,实现了系统的连通性和编队控制。出于实际需要,考虑在具有个智能体的非完整系统中,仅利用相邻智能体间相对角度信息设计编队控制策略,利用势能函数方法设计控制器,构建李雅普诺夫函数,引入非线性理论和非光滑分析理论证明闭环系统中编队轨迹全局渐近收敛。结果表明,该算法能实现各相邻智能体间达到期望相对角度的目标,且系统能实现期望的编队效果,其中,各智能体的平移速度和旋转速度都收敛为零,最后通过数值仿真验证了算法的有效性。In this paper,a nonholonomic formation control of multi-robot system based on only angle information is considered to realize the connectivity and formation control.Out of practical necessity,consider that in a nonholonomic system with n agents,using relative angle information between adjacent agents to design strategy.The controller designed by potential energy function method,the Lyapunov function is also constructed.At the same time,nonlinear theory and non-smooth analysis theory are introduced to prove the global asymptotic convergence of formation trajectories in the closed loop system.The results indicate that,this algorithm can achieve the target of desired angle and formation between relative communicating agents,thus the translation velocity and rotation velocity of each agent will converge to zero,finally,the effectiveness of the proposed algorithm is veried by numerical simulation.

关 键 词：多智能体 势能函数 编队控制 非完整系统 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]