| 引用本文: | 吴晋,张国良,曾静,徐君.多机器人编队离散模型及队形控制稳定性分析[J].控制理论与应用,2014,31(3):293~301.[点击复制] |
| WU Jin,ZHANG Guo-liang,ZENG Jing,XU Jun.Discrete-time modeling for multirobot formation and stability of formation control algorithm[J].Control Theory and Technology,2014,31(3):293~301.[点击复制] |
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| 多机器人编队离散模型及队形控制稳定性分析 |
| Discrete-time modeling for multirobot formation and stability of formation control algorithm |
| 摘要点击 2668 全文点击 1926 投稿时间：2013-05-20 修订日期：2013-10-12 |
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| DOI编号 10.7641/CTA.2014.30503 |
| 2014,31(3):293-301 |
| 中文关键词 队形控制 运动模型 稳定性分析 分布式控制 代数图论 |
| 英文关键词 formation control kinematics model stability analysis distributed control algebraic graph theoretic |
| 基金项目 陕西省自然科学基金资助项目(2012K06–45). |
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| 中文摘要 |
| 针对包含绕心运动情况下的多机器人编队进行离散建模, 并利用该模型解决保持队形期望前端始终朝着
编队前进方向的控制问题. 以控制多机器人编队收敛到期望的队形并镇定到预设运动规律上为目标, 定义了一类通
信拓扑图, 基于该类图提出了一种分布式协同控制算法. 给出了该控制算法下编队系统渐进稳定的充分必要条件
及反馈控制参数的收敛域. 证明了在该充分必要条件下可实现编队收敛到期望的队形和预设运动规律上的目标. 仿
真实验表明, 在该算法控制下多机器人编队较好地收敛到期望队形并按预设规律运动, 且过程中始终保持队形期望
前端朝着编队前进方向, 进而验证了该算法的有效性和正确性. |
| 英文摘要 |
| For the distributed multirobot formation with revolving round, a discrete-time kinematic model for the formation
center is developed, and is applied to keep the desired front-end to turn towards the moving direction. A kind of
communication topology graph is defined by which the robots converge to the desired geometry formation with desired
motion rules. Then, a distributed discrete coordination control algorithm is proposed based on that graph. A sufficient and
necessary condition of asymptotic stability of the formation system and the convergence region of feedback control parameter
are given. It is proved that the formation can converge to the desired geometry formation with desired motion rules
under this sufficient and necessary condition. Simulation results validate the efficacy of the control algorithm in achieving
these goals. |