一类非完整轮式机器人的编队一致性
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摘要
讨论了一类具有非完整约束和有向通信拓扑的轮式机器人的编队一致性问题.基于Zipf分布设计了带有耦合权重的编队一致性协议,减少了机器人间的信息交换,降低机器人编队在复杂的通讯环境中对所有机器人状态信息的依赖程度.将多机器人系统的编队一致性问题转化为误差系统的稳定性分析问题,给出了机器人形成编队的一致性条件,并利用图论和李亚诺夫稳定性理论证明在该条件下可实现系统编队收敛到期望的队形和虚拟领导者的运动规律上的目标.仿真实验和实物实验验证了所设计编队一致性协议的有效性.
In this paper,we discuss the formation consensus problem of a class of wheeled robots with a nonholonomic constraint and directed communication topology. We design a formation consistency protocol with a coupling weight based on a Zipf distribution to reduce the information exchange between robots and reduce the dependence on state information of all robots in complex communication environments. Thus,we transform the formation consensus problem of the multi-robot system into a stability analysis of the error system. We identify the consistency condition for the formation of the multi-robot system,and use the graph and Lyapunov theories to prove that the formation can converge to the desired geometry and the desired motion rules of the virtual leader under this condition. We perform nontrivial simulations to validate the effectiveness of the distributed cooperative algorithm with coupling weights.
In this paper,we discuss the formation consensus problem of a class of wheeled robots with a nonholonomic constraint and directed communication topology. We design a formation consistency protocol with a coupling weight based on a Zipf distribution to reduce the information exchange between robots and reduce the dependence on state information of all robots in complex communication environments. Thus,we transform the formation consensus problem of the multi-robot system into a stability analysis of the error system. We identify the consistency condition for the formation of the multi-robot system,and use the graph and Lyapunov theories to prove that the formation can converge to the desired geometry and the desired motion rules of the virtual leader under this condition. We perform nontrivial simulations to validate the effectiveness of the distributed cooperative algorithm with coupling weights.
引文
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[18]Chen Z,Fan M C,Zhang H T. How much control is enough for network connectivity preservation and collision avoidance[J]. IEEE Transac-tions on Cybernetics,2015,45(8):1647-1656.
[19]毛昱天,陈杰,方浩,等.连通性保持下的多机器人系统分布式群集控制[J].控制理论与应用,2014,31(10):1393-1403.Mao Y T,Chen J,Fang H,et al. The theory and application of distributed cluster control for multi robot systems with connectivity preserving[J]. Control Theory and Applications,2014,31(10):1393-1403.
[20]Peng Z,Wen G,Rahmani A,et al. Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified ref-erence trajectory[J]. International Journal of Systems Science,2015,46(8):1447-1457.
[21]Li Z,Wen G,Duan Z,et al. Designing fully distributed consensus protocols for linear multi-agent systems with directed graphs[J]. IEEETransactions on Automatic Control,2015,60(4):1152-1157.
[22]盖彦荣,陈阳舟,宋学君,等.有领导者线性多智能体系统一致性的分析与设计[J].中南大学学报(自然科学版),2017,48(3):735-741.Gai Y R,Chen Y Z,Song X J,et al. Consensus analysis and design problem for leader-following linear multi-agent systems[J]. Journal ofCentral South University:Natural Science Edition,2017,48(3):735-741.
[23]张瑞雷,李胜,陈庆伟.一类非完整移动机器人编队控制方法[J].控制与决策,2013,28(11):1751-1755.Zhang R L,Li S,Chen Q W. Formation control for a kind of nonholonomic mobile robots[J]. Control and Decision,2013,28(11):1751-1755.
[24]Ren W,Beard R W. Distributed consensus in multi-vehicle cooperative control[M]. Berlin,Germany:Springer-Verlag,2008.
[2] Cao Y,Yu W,Ren W,et al. An overview of recent progress in the study of distributed multi-agent coordination[J]. IEEE Transactions on In-dustrial informatics,2013,9(1):427-438.
[3]吴晋,张国良,曾静,等.多机器人编队离散模型及队形控制稳定性分析[J].控制理论与应用,2014,31(3).Wu J,Zhang G L,Zeng J,et al. Multi robot formation discrete model and formation control stability analysis[J]. Control Theory and Applica-tions,2014,31(3):293-301
[4]郑秀娟,吴怀宇,程磊,等.多机器人主—从行星式编队控制[J].信息与控制,2012,41(3):370-377.Zheng X J,Wu H Y,Cheng L,et al. Multi-robot master-slave planetary formation control[J]. Journal of Information&Control,2012,41(3):370-377.
[5]俞志英,郭戈.车联网环境下的车辆编队协作路径跟踪控制[J].控制工程,2015(5):804-808.Yu Z Y,Guo G. Vehicle path tracking control in vehicle networking environment[J]. Control Engineering,2015(5):804-808.
[6]王永磊,莫广波,何良云,等.基于Flocking的车辆编队分布式控制[J].仪表技术,2016(6):4-8.Wang Y L,Mo G B,He L Y,et al. Distributed control of vehicle formation based on Flocking[J]. Instrument Technique,2016(6):4-8.
[7]田静,程月华,姜斌,等.有限通信情况下的航天器编队协同控制研究[J].航天控制,2014,32(4):75-81.Tian J,Cheng Y H,Jiang B,et al. Study on cooperative control of spacecraft formation under limited communication[J]. Aerospace Control,2014,32(4):75-81.
[8] Wu Z,Qiu T,Wu J,et al. A State-prediction-based control strategy for UAVs in Cyber-Physical Systems[C]//2016 IEEE International Con-ference on Systems,Man,and Cybernetics(SMC). Piscataway,NJ,USA:IEEE,2016:000691-000694.
[9] Radmanesh M,Kumar M. Flight formation of UAVs in presence of moving obstacles using fast-dynamic mixed integer linear programming[J].Aerospace Science and Technology,2016,50:149-160.
[10]张楷田,楼张鹏,王永,等.日心悬浮轨道航天器编队飞行控制[J].信息与控制,2016,44(1):114-119.Zhang K T,Lou Z P,Wang Y,et al. Control of spacecraft formation flying around heliocentric displaced orbits[J]. Information and Control,2016,44(1):114-119.
[11]王银涛,严卫生.多自主水下航行器系统一致性编队跟踪控制[J].控制理论与应用,2013,30(3):379-384.Wang Y T,Yan W S. The theory and application of the uniform formation tracking control for multiple autonomous underwater vehicle[J].Control Theory and Applications,2013,30(3):110-115.
[12]袁健,张文霞,周忠海.全驱动式自主水下航行器有限时间编队控制[J].哈尔滨工程大学学报,2014,35(10):1276-1281.Yuan J,Zhang W X,Zhou Z H. Finite time for matio control of fully autonomous underwater vehicle[J]. Journal of Harbin Engineering Uni-versity,2014,35(10):1276-1281.
[13]徐望宝,荣根熙,祝超超,等.群机器人复杂搬运队形形成的人工社会职位法[J].信息与控制,2016,45(6):647-652.Xu W B,Rong G X,Zhu C C,et al. Artificial social position method of complex transport formation of group robots[J]. Information and Con-trol,2016,45(6):647-652.
[14]Cherubini A,Passama R,Crosnier A,et al. Collaborative manufacturing with physical human—robot interaction[J]. Robotics and Computer-Integrated Manufacturing,2016,40:1-13.
[15]Chen Z,Zhang H T. A remark on collective circular motion of heterogeneous multi-agents[J]. Automatica,2013,49(5):1236-1241.
[16]Zhang H T,Chen Z,Yan L,et al. Applications of collective circular motion control to multirobot systems[J]. IEEE Transactions on ControlSystems Technology,2013,4(21):1416-1422.
[17]Chen Z,Zhang H T,Fan M C,et al. Algorithms and experiments on flocking of multiagents in a bounded space[J]. IEEE Transactions onControl Systems Technology,2014,22(4):1544-1549.
[18]Chen Z,Fan M C,Zhang H T. How much control is enough for network connectivity preservation and collision avoidance[J]. IEEE Transac-tions on Cybernetics,2015,45(8):1647-1656.
[19]毛昱天,陈杰,方浩,等.连通性保持下的多机器人系统分布式群集控制[J].控制理论与应用,2014,31(10):1393-1403.Mao Y T,Chen J,Fang H,et al. The theory and application of distributed cluster control for multi robot systems with connectivity preserving[J]. Control Theory and Applications,2014,31(10):1393-1403.
[20]Peng Z,Wen G,Rahmani A,et al. Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified ref-erence trajectory[J]. International Journal of Systems Science,2015,46(8):1447-1457.
[21]Li Z,Wen G,Duan Z,et al. Designing fully distributed consensus protocols for linear multi-agent systems with directed graphs[J]. IEEETransactions on Automatic Control,2015,60(4):1152-1157.
[22]盖彦荣,陈阳舟,宋学君,等.有领导者线性多智能体系统一致性的分析与设计[J].中南大学学报(自然科学版),2017,48(3):735-741.Gai Y R,Chen Y Z,Song X J,et al. Consensus analysis and design problem for leader-following linear multi-agent systems[J]. Journal ofCentral South University:Natural Science Edition,2017,48(3):735-741.
[23]张瑞雷,李胜,陈庆伟.一类非完整移动机器人编队控制方法[J].控制与决策,2013,28(11):1751-1755.Zhang R L,Li S,Chen Q W. Formation control for a kind of nonholonomic mobile robots[J]. Control and Decision,2013,28(11):1751-1755.
[24]Ren W,Beard R W. Distributed consensus in multi-vehicle cooperative control[M]. Berlin,Germany:Springer-Verlag,2008.