控制理论与应用2022，Vol.39Issue(10)：1815-1824,10.DOI:10.7641/CTA.2022.10943
利用方位角观测的多机器人系统离散分布式最优围陷控制
Discrete-time distributed optimal entrapment for multi-robot systems using bearing measurements
摘要
Abstract
In this paper,we investigate the problem of simultaneous localization and entrapment of a static target by robots with discrete-time dynamics.Firstly,aiming to lead the multi-robot system to move on an arbitrarily shaped orbit in an arbitrarily shaped formation,a scheme for path planning based on the virtual system is proposed.Secondly,in order to locate and entrap the target without global positioning information of robots,a joint discrete-time estimator-controller using relative bearing-only measurements is proposed.The estimator is designed by exploiting the orthogonality property,and based on this estimator,the controller is developed.Using LaSalle's theorem for the discrete systems and iterative method,we propose the sufficient conditions under which the convergence of estimation error and tracking error is proved.Moreover,to improve the overall performance,an optimal gains tuning method is developed,so that discrete-time robots can achieve the desired formation at a faster convergence speed.Finally,simulation results are presented to verify the effectiveness of the overall scheme.关键词
多机器人系统/离散时间/纯方位测量/优化增益Key words
multi-robot systems/discrete-time/bearing-only measurements/optimal gains引用本文复制引用
付瑛博,杨紫雯,朱善迎,陈彩莲..利用方位角观测的多机器人系统离散分布式最优围陷控制[J].控制理论与应用,2022,39(10):1815-1824,10.基金项目
Supported by the National Natural Science Foundation of China(61922058,62103277,62025305)and the Fellowship of China National Postdoctoral Program for Innovative Talents(BX2021181). （61922058,62103277,62025305）
