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摘要: 针对一类具有二阶动态行为的多机器人系统的队形控制问题, 提出了一种分布式离散协同控制算法, 并应用代数图论和矩阵论的方法对该系统的渐近稳定性和算法的一致收敛性进行分析. 应用上述方法, 证明了确保多智能体系统渐近收敛的充要条件,得到了反馈控制参数的取值范围. 同时证明了在该充要条件下多机器人将逐步收敛到期望队形和同一运动速度. 仿真部分通过一个六机器人系统的队形控制验证了本文研究结果的正确性.Abstract: This paper investigates a discrete coordination control algorithm of vehicle formations, and analyzes the algorithm's stability and convergence using techniques from graph theoretic methods and matrix theory. A sufficient and necessary condition for asymptotic stability of the system studied is proved, and the value-taking region of feedback control parameters is obtained. We also prove the convergence of vehicles moving to a desired formation and a common velocity under the above sufficient-necessary condition. A six-vehicle formation coordination control example is shown in simulation to verify our theoretical result.
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Key words:
- Multi-agent systems /
- formation control /
- stability /
- algebraic graph theory /
- matrix theory
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