时变参考状态下多机器人一致性跟踪研究

Research on Consensus Tracking of Multi-robots System with Time-variant Reference State

多机器人系统的一致性是研究多机器人合作控制领域的一个基础问题,在一致性的基础上,提出多机器人系统的可控问题.首先本文在给定的时变参考状态下,为实现系统中的机器人与参考状态保持一致,针对全局连通情形提出了一种方法.但这种方法并不能解决一般的一致性问题,为解决一般的一致性问题,在考虑系统状态微分的前提下提出了一新方法,可以很好的解决一般的一致性问题,并通过不同状态下的仿真分析验证了所提出方法的有效性.

Consensus of the multi-robots system is the fundamental problem of cooperative control,this paper puts forward the controlled problem of multi-robots system based-on consensus. To better understand the information flowin the multi-robots system,the information interaction graph and information interaction matrix are introduced. Given the time-variant reference state,to guarantee the robots in the system to keep consensus with the reference state,for the full-access topology graph the author proposes one consensus tracking method,but it can’t solve the fundamental consensus problem. To solve the fundamental consensus problem,a newconsensus tracking method is proposed considering the state of differential. In the end,the proposed consensus tracking control method is validated effective through simulation experiment.