| 引用本文: | 伍锡如,邢梦媛.分数阶多机器人的领航–跟随型环形编队控制[J].控制理论与应用,2021,38(1):103~109.[点击复制] |
| WU Xi-ru,XING Meng-yuan.Annular formation control of the leader-follower multi-robot based on fractional order[J].Control Theory and Technology,2021,38(1):103~109.[点击复制] |
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| 分数阶多机器人的领航–跟随型环形编队控制 |
| Annular formation control of the leader-follower multi-robot based on fractional order |
| 摘要点击 2034 全文点击 716 投稿时间：2019-11-25 修订日期：2020-06-25 |
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| DOI编号 10.7641/CTA.2020.90969 |
| 2021,38(1):103-109 |
| 中文关键词 分数阶 多机器人 编队控制 环形编队 目标跟踪 |
| 英文关键词 fractional order multi-robots formation control annular formation target tracking |
| 基金项目 国家自然科学基金项目(61603107, 61863007), 桂林电子科技大学研究生教育创新计划项目(C99YJM00BX13). |
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| 中文摘要 |
| 针对多机器人系统的环形编队控制复杂问题, 提出一种基于分数阶多机器人的环形编队控制方法, 应用领
航–跟随编队方法来控制多机器人系统的环形编队和目标包围, 通过设计状态估测器, 实现对多机器人的状态估计.
由领航者获取系统中目标状态的信息, 跟随者监测到领航者的状态信息并完成包围环绕编队控制, 使多机器人系统
形成对动态目标的目标跟踪. 根据李雅普诺夫稳定性理论和米塔格定理, 得到多机器人系统环形编队控制的充分
条件, 实现对多机器人系统对目标物的包围控制, 通过对一组多机器人队列的目标包围仿真, 验证了该方法的有效
性. |
| 英文摘要 |
| Aiming at the complex problem of annular formation control for fractional order multi robot system, an annular formation control method based on fractional order multi robot is proposed. The leader follower formation method is
used to control the annular formation and target envelopment of the multi robot systems. The state estimation of multi robot
is realized by designing state estimator. The leader obtains the information of the target state in the system, the followers
detects the status of the leader and complete annular formation control, the multi-robot system forms the target tracking
of the dynamic target. According to Lyapunov stability theory and Mittag Leffler’s theorem, the sufficient conditions of
the annular formation control for the multi robot systems are obtained in order to achieve annular formation control of the
leader follower multi robot. The effectiveness of the proposed method is verified by simulation by simulation of a group of
multi robot experiments. |
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