基于预测控制的时滞多机器人编队脉冲控制

Impulsive control for multi-robot formation with communication delay based on predictive control

针对多机器人编队控制的时滞问题,提出一种基于预测控制的脉冲控制方法.首先,利用一致性思想将多机器人编队控制转换为系统稳定性问题;然后构建预测模型,采用脉冲控制协议,利用Schur稳定性定理推导实现多机器人编队控制的充分条件;最后,在数值仿真中随机设置一种包含生成树的通信拓扑关系,并比较了不同采样时间间隔下时滞系统的控制效果.仿真结果验证了所提出方法的有效性.

Concerning the communication delay of multi-robot formation control, an impulsive control algorithm based on predictive control is proposed. The formation control is transformed into the stability problem by using consensusibility. The predictive model is established. And then the sufficient condition of stability in the multi-robot formation control is obtained by utilizing the stability theorem of Schur（the Lyapunov stability theorem in discrete time） and the impulsive protocol. In the simulation, the communication topology with a spinning tree is set up randomly, and different sample periods with time delay in multi-robot formation control is compared. Simulation results show the effectiveness of the proposed algorithm.