分数阶多机器人的领航–跟随型环形编队控制
Annular formation control of the leader-follower multi-robot based on fractional order
摘要点击 173  全文点击 83  投稿时间:2019-11-25  修订日期:2020-06-25
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DOI编号  10.7641/CTA.2020.90969
  2021,38(1):103-109
中文关键词  分数阶  多机器人  编队控制  环形编队  目标跟踪
英文关键词  fractional order  multi-robots  formation control  annular formation  target tracking
基金项目  国家自然科学基金项目(61603107, 61863007), 桂林电子科技大学研究生教育创新计划项目(C99YJM00BX13).
作者单位E-mail
伍锡如 桂林电子科技大学 xiruwu@guet.edu.cn 
邢梦媛 桂林电子科技大学 610617868@qq.com 
中文摘要
      针对多机器人系统的环形编队控制复杂问题, 提出一种基于分数阶多机器人的环形编队控制方法, 应用领 航–跟随编队方法来控制多机器人系统的环形编队和目标包围, 通过设计状态估测器, 实现对多机器人的状态估计. 由领航者获取系统中目标状态的信息, 跟随者监测到领航者的状态信息并完成包围环绕编队控制, 使多机器人系统 形成对动态目标的目标跟踪. 根据李雅普诺夫稳定性理论和米塔格定理, 得到多机器人系统环形编队控制的充分 条件, 实现对多机器人系统对目标物的包围控制, 通过对一组多机器人队列的目标包围仿真, 验证了该方法的有效 性.
英文摘要
      Aiming at the complex problem of annular formation control for fractional order multi robot system, an annular formation control method based on fractional order multi robot is proposed. The leader follower formation method is used to control the annular formation and target envelopment of the multi robot systems. The state estimation of multi robot is realized by designing state estimator. The leader obtains the information of the target state in the system, the followers detects the status of the leader and complete annular formation control, the multi-robot system forms the target tracking of the dynamic target. According to Lyapunov stability theory and Mittag Leffler’s theorem, the sufficient conditions of the annular formation control for the multi robot systems are obtained in order to achieve annular formation control of the leader follower multi robot. The effectiveness of the proposed method is verified by simulation by simulation of a group of multi robot experiments.