多智能体信息一致性在机器人编队控制中的应用

对固定拓扑结构下多智能体有向网络一致性问题进行了研究,提出了一类协调控制器并证明了使多智能体网络在固定拓扑结构下取得全局渐进一致的充要条件,考虑到智能体之间通讯过程中存在的时延问题,给出了最大固定延时时间的紧凑上界,取得了满意效果,最后将信息一致性思想应用于多机器人的编队控制。结果表明,基于信息一致性的方法可成功应用于机器人编队控制。

Application of Multi-agents Consensus to Robot Formation Control

The consensus problem in directed networks of multi-agents under fixed topology is studied.A class of cooperative controller is applied to consensus seeking,moreover,the sufficient and necessary condition for the multi-agents under fixed networks topology to achieve global asymptotically is proved out.Considering the time-delay problems during the communicaton between multi-agents,a tight upper bound on the maximum fixed time-delay is proposed.Based on the consensus concept,formation control for multiple ro...