含有通信时延的非完整移动机器人的一致性

Consensus of Nonholonomic Mobile Robots with Communication Delays

非完整机器人协同控制的研究是多智能体协同控制研究领域的重要分支.针对多个非完整链式系统无领航者的一致性问题,先通过链式变换将原始的(2,1)非完整系统转换为四状态的非完整链式模型;然后设计了一种分布式协调控制器,该控制器容许多非完整系统的通信拓扑为一般的无向图,并考虑了通信时延存在的情况.利用Lyapunov稳定性定理和LaSalle不变原理对控制器的稳定性进行了证明,并设计了数值仿真实验,仿真结果证明了控制算法的有效性.

The research of the consensus of nonholonomic robots is an important branch of multi-agent collaborative control research. The leaderless consensus control problem of multiple nonholonomic chained systems has been studied. Firstly, transforming a nonholonomic (2,1) system into a four-state nonholonomic chain model through chain transformation. Secondly, a distributed controller is proposed which allows for the existence of communication delays under the undirected communication topology. Lyapunov stability theorem and Barbalats Lemma are used to prove the stability of the proposed controller. Finally, numerical simulation is also presented to demonstrate the effectiveness of the controller.