计算机工程与应用2018，Vol.54Issue(12)：258-263,6.DOI:10.3778/j.issn.1002-8331.1701-0225
异构多机器人编队相互通信时延精确控制
Formation control of heterogeneous multi-robot systems with commu-nication time-delays
贾枭 1张国良 1徐君 1杜柏阳 1林志林1
作者信息
- 1. 火箭军工程大学 301教研室,西安 710025
- 折叠
摘要
Abstract
Formation control is a key problem in the field of multi-robot cooperative control. Considering the complexity of the practical environment, the research of formation control for heterogeneous multi-robot systems is more significance in engineering. Furthermore, when heterogeneous multi-robot systems exist time-delays, the consensus analysis of the dif-ferent order robots is more difficult. Concerning the above problems, a formation control algorithm for heterogeneous multi-robot systems based on the consensus theory is proposed. Considering two cases of the zero time-delay and the fixed time-delay, the formation control problem of heterogeneous multi-robot systems based upon leader-following model is transformed into a stability problem by using the consensus theory. A necessary and sufficient condition for the forma-tion control problem is obtained by matrix analysis and Routh-Hurwitz theorems. In addition, a Lyapunov-Razumikhin function is constructed. By untilizing the Newton-Leibniz formula and the Lyapunov theorem, the sufficient condition for formation control of fixed time-delay systems is presented. Simulation results show that this consensus algorithm can make the heterogeneous multi-robot system with communication time-delays realize formation precise control.关键词
编队控制/时延/异构多机器人系统/一致性/领航跟随者Key words
formation control/time-delay/heterogeneous multi-robot system/consensus/leader-following分类
信息技术与安全科学引用本文复制引用
贾枭,张国良,徐君,杜柏阳,林志林..异构多机器人编队相互通信时延精确控制[J].计算机工程与应用,2018,54(12):258-263,6.
