Decentralized time-varying formation control for multi-robot systems
Decentralized time-varying formation control for multi-robot systems
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DOI：
10.1177/0278364913519149
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发表时间：
2014-06
期刊：
影响因子：
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通讯作者：
G. Antonelli;F. Arrichiello;F. Caccavale;A. Marino
中科院分区：
文献类型：
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作者：
G. Antonelli;F. Arrichiello;F. Caccavale;A. Marino
本文提出了一种用于一阶动力学多机器人系统质心和相对形跟踪控制的分布式控制器-观测器模式。团队中的每个机器人使用分布式观测器估计整个系统状态，并使用运动控制策略对时变质心和队形进行跟踪控制。证明了控制器-观测器模式在不同类型的连接拓扑下以及在不饱和和饱和控制输入情况下的总体收敛性。特别是，该解决方案在强连接非交换拓扑和平衡强连接交换拓扑的情况下被证明是有效的。为了完成这项工作，该方法通过一个由五个轮式移动机器人组成的团队进行了实验测试。
In this paper, a distributed controller–observer schema for tracking control of the centroid and of the relative formation of a multi-robot system with first-order dynamics is presented. Each robot of the team uses a distributed observer to estimate the overall system state and a motion control strategy for tracking control of time-varying centroid and formation. Proof of the overall convergence of the controller–observer schema for different kinds of connection topologies, as well as for the cases of unsaturated and saturated control inputs is presented. In particular, the solution is proven to work in the case of strongly connected non-switching topologies and in the case of balanced strongly connected switching topologies. In order to complete the work, the approach is validated by experimental tests with a team of five wheeled mobile robots.