高技术通讯2017，Vol.27Issue(11)：948-957,10.DOI:10.3772/j.issn.1002-0470.2017.11-12.009
基于双目视觉的多智能体机器人分布式包含控制
Distributed containment control for multi-agent robots based on binocular vision
摘要
Abstract
Aiming at the distributed containment control problem of multi-agent robots with static leaders,a binocular vis-ual servo control strategy based on the dissipative Hamilton theory and nonlinear disturbance observe(NDO)is studied.Firstly,the topological relationship among robots is built by using directed graphs in the graph theory to make each follower determine its tracking target according to the status information of neighbor robots,and to derive a binocular visual servo model for the dynamic target point.Secondly,the dissipative Hamilton model of followers is built through pre-feedback control,and nonlinear disturbance observers are used to observe the total uncertainties of the system dynamically.Thirdly, dissipative Hamilton controllers with strong robustness are designed by utilizing the interconnection and damping assignment and the energy shaping strategy.Besides, the observation values of NDOs and the upper bound estimation values of observation errors are introduced into the designed controllers to make compensation,and then the followers are driven to converge to desired positions in the convex hull spanned by the leaders ultimately.Finally,a simulation study using four two-DOF(degree of freedom)binocular vision ro-bots is carried out,and the simulation results show the validity of the proposed control strategy.关键词
多智能体机器人/双目视觉伺服控制/分布式包含控制/耗散Hamilton模型/非线性干扰观测器(NDO)Key words
multi-agent robots/binocular visual servo control/distributed containment control/dissipative Hamilton model/nonlinear disturbance observer(NDO)引用本文复制引用
邵暖,刘乐..基于双目视觉的多智能体机器人分布式包含控制[J].高技术通讯,2017,27(11):948-957,10.基金项目
国家自然科学基金(61403332),河北省自然科学基金(F2015203400),河北省高等学校科学技术研究(Z2017041),秦皇岛市科技计划(201703A219)和河北环境工程学院科研基金(BJ201604)资助项目. （61403332）
