摘要
针对无线网络环境下存在信道噪声和Markov型随机丢包的多机器人协调控制进行研究。假设机器人之间的通信拓扑是固定不变的,将机器人之间的连接权重、网络中的信道噪声和Markov型随机丢包等不确定因素转化为不确定系统中的某些不确定参数。依据鲁棒控制理论、不确定系统理论,建立多机器人系统模型。通过对整个系统的稳定性进行分析,采用线性矩阵不等式的求解方法,得到使多个机器人能够达到状态一致的权重选择条件,并设计出保持系统稳定的一致协调控制算法。利用可模拟网络环境下系统运行的仿真软件,分析多个机器人的运动状态特性曲线,并与参考文献中的类似问题进行比较,验证了所提算法的有效性。
The coordination control of multi-robot communicating with the others over wireless networks with channel noise and Markov random packet loss was studied.Suppose the topology formed by robots was fixed,the stochastic uncertain factors such as connection weights between robots,channel noise and the Markov random packet loss in the network were transformed into some uncertain parameters of uncertain systems.Multi-robot system model was established by using the theories about robust control,uncertain systems.By analyzing the stability of the whole system and using the linear matrix inequality （LMI）method,the criterion of selecting weights was obtained to achieve the state consensus of mu;ti-robot.A consistent coordination control algorithm of stability for the system was designed.The characteristic curvesof motion state of multi-robot were analyzed by utilizing the simulation software which simulates the system running under the network environment.Meanwhile,a comparison was made between the proposed algorithm and the other method to prove the effectiveness of the proposed method.
出处
《电机与控制学报》
EI
CSCD
北大核心
2014年第10期112-120,共9页
Electric Machines and Control
基金
国家自然科学基金(61172022)
