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基于虚拟结构的分布式编队控制方法 被引量：10

Distributed Control of Formation Maneuvers Based on Virtual Structures
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摘要 提出一种用于编队机动运动控制的分布式编队控制方法.以虚拟结构为框架,在编队控制算法里加入队形反馈,邻近的分散编队控制器之间进行通信和协调,使得编队控制器既能控制编队机动运动速度,又能在编队机动过程中较好地维持队形.证明了该编队控制方法的收敛性.对有控制输入饱和约束的机器人组成的编队进行仿真,验证了该方法的有效性. A distributed formation control approach to formation maneuvers is presented. Based on virtual structures, formation feedback is incorporated in the formation control scheme, which increases the robustness of the formation. The decentralized controllers are designed to communicate and cooperate with their neighbours, which keep the formation during the whole process of formation maneuvers. Convergence of the system is proved theoretically. Simulation results of multiple robot system with actuator saturation show effectiveness of the proposed control strategies.
作者 何真 陆宇平 刘燕斌
机构地区 南京航空航天大学自动化学院
出处 《应用科学学报》 CAS CSCD 北大核心 2007年第4期387-391,共5页 Journal of Applied Sciences
基金 国家自然科学基金(90605007) 南京航空航天大学博士生创新基金(4003-019030)资助项目
关键词 编队控制 虚拟结构 队形反馈 多机器人系统 formation control virtual structure formation feedback multi-robot system
分类号 TP24 [自动化与计算机技术—检测技术与自动化装置]
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参考文献10

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二级参考文献46

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共引文献61

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引证文献10

二级引证文献36

应用科学学报
2007年 第4期

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