摘要
针对部分信息已知且带有干扰的多机器人系统,设计一种新的鲁棒一致性算法,解决多机器人系统输出一致性问题.首先,给出轮式移动机器人系统的运动学模型,根据全局控制与局部控制策略相结合的思想,建立基于多智能体一致行为的数学描述;其次,提出一种合理的鲁棒性能指标,利用H∞鲁棒控制及微分对策方法,设计多机器人系统鲁棒一致性算法.仿真实验验证了上述算法不仅使多个机器人自主达到速度一致,并有效抑制了干扰.
For a multirobot system subjected to exogenous disturbance and with partial informatlon given, a robust consensus algorithm is developed to solve the output consensus problems. The kinematic model of a differential wheeled mobile robot is presented first. According to the idea of combining global control with local control, the consensus based on a multi-agent system is mathematically described. Then, a reasonable robust performance index is proposed, and utilizing H∞ robust control and differential game theory, a robust consensus algorithm is designed. An example is simulated to demonstrate that the proposed method can guarantee the velocity consensus autonomously for each robot and restrain disturbance.
出处
《东北大学学报(自然科学版)》
EI
CAS
CSCD
北大核心
2014年第8期1065-1068,共4页
Journal of Northeastern University(Natural Science)
基金
国家自然科学基金资助项目(61374137)
流程工业综合自动化国家重点实验室基础科研业务费资助项目(2013ZCX02-03)