Embedding prescribed-time adaptive control protocol unveiling distributed consensus in multirobot systems via directed topology  

作　　者：Yonghao XIE Xinru MA Hengyu LI Shaorong XIE 

机构地区：[1]School of Computer Engineering and Science,Shanghai University,Shanghai 200444,China [2]School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200444,China

出　　处：《Science China(Information Sciences)》2025年第2期379-380,共2页中国科学(信息科学)(英文版)

基　　金：supported in part by Major Program of the National Natural Science Foundation of China(Grant No.61991415);General Program of the National Natural Science Foundation of China(Grant No.62073209)。

摘　　要：Recently,multirobot systems(MRSs)have found extensive applications across various domains,including industrial manufacturing,collaborative formation of unmanned equipment,emergency disaster relief,and war scenarios[1].These advancements are largely supported by the development of consistency control theory.However,traditional dynamicsfree models may cause instability in complex robotic systems.Lagrangian dynamics offers a better approach for modeling these systems,as it facilitates controller design and optimization analysis.Despite this,challenges persist with unknown parameters and nonlinear friction within the systems.

关 键 词：theory PRESCRIBED TOPOLOGY 

分 类 号：O17[理学—数学]