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摘要: 研究多机器人系统的协同一致性问题. 在考虑了系统中存在采样、保持以及时延的情况下, 对多机器人系统进行稳定性分析. 提出了一种简便的图形的稳定性判据, 以保证多机器人协同控制系统的一致性收敛. 在此基础上, 推导出了时延为一个采样周期时系统的稳定域. 最后, 利用Matlab进行车辆编队控制系统的仿真, 结果证明了提出的稳定性判据的可行性.Abstract: This paper investigated the cooperative consensus problem for multi-robot systems. The stability of the multi-robot system was analyzed with the presence of sampling, hold and time delays. A simple diagrammatic stability criterion was presented to guarantee that the cooperative control of multi-robot system could achieve consensus. Based on this criterion, the system stability region was derived when the time delay was equal to a sampling period. Finally, simulation examples of vehicle formations were provided to show the validity of the diagrammatic stability criterion.
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Key words:
- Multi-robot system /
- cooperative control /
- consensus algorithm /
- system stability
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