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针对多机器人编队控制的时滞问题,提出一种基于预测控制的脉冲控制方法.首先,利用一致性思想将多机器人编队控制转换为系统稳定性问题;然后构建预测模型,采用脉冲控制协议,利用Schur稳定性定理推导实现多机器人编队控制的充分条件;最后,在数值仿真中随机设置一种包含生成树的通信拓扑关系,并比较了不同采样时间间隔下时滞系统的控制效果.仿真结果验证了所提出方法的有效性.
Aiming at the time-delay problem of multi-robot formation control, a pulse control method based on predictive control is proposed.First, the multi-robot formation control is transformed into the problem of system stability by using the idea of consistency, and then the prediction model is built by using pulse control protocol, Schur’s stability theorem is used to derive sufficient conditions for multi-robot formation control.Finally, a topology of communication topology including spanning tree is set randomly in numerical simulation and the control effects of time-delay systems with different sampling time intervals are compared. Simulation results verify The effectiveness of the proposed method.