高技术通讯2024，Vol.34Issue(1)：62-71,10.DOI:10.3772/j.issn.1002-0470.2024.01.007
间歇性通信下多移动机器人的分布式切换预测控制
Distributed switching predictive control for multiple mobile robots with intermittent communication
摘要
Abstract
A distributed switching predictive control method is proposed for multi-robot formation with intermittent com-munication.Firstly,in order to reduce the communication cost,the switching topology strategy is described as in-termittent communication,and the multi-robot formation is modeled as a switching system model with path parame-ter synchronization constraints.For the nominal system,the sufficient conditions for the exponential stability of the nominal system and the design method of the stabilizing controller are given by using the distributed switching pre-dictive control method.For the path parameter synchronization constraint term,the design method of path parame-ter synchronization controller based on distributed predictive control is given by minimizing the cost function with path parameter synchronization constraint.Finally,the simulation verifies that the proposed algorithm can enable multiple mobile robots to complete the formation task under the condition of intermittent communication.关键词
多移动机器人/间歇性通信/切换预测控制/编队控制Key words
multiple mobile robot/intermittent communication/switched predictive control/formation control引用本文复制引用
陈嘉旻,刘安东,滕游..间歇性通信下多移动机器人的分布式切换预测控制[J].高技术通讯,2024,34(1):62-71,10.基金项目
①国家自然科学基金(61973275)资助项目. （61973275）
