间歇性通信下多移动机器人的分布式切换预测控制
Distributed switching predictive control for multiple mobile robots with intermittent communication
陈嘉旻 1刘安东 1滕游1
作者信息
- 1. 浙江工业大学信息工程学院 杭州 310023
- 折叠
摘要
针对间歇性通信下的多移动机器人编队,提出了一种分布式切换预测控制方法.首先,通过将切换拓扑策略描述为间歇性通信,将多机器人编队建模为一类带有路径参数同步约束项的切换系统模型,以减少通信代价.针对名义系统部分,采用分布式切换预测控制方法,给出了名义系统指数稳定的充分条件和稳定化控制器的设计方法.针对路径参数同步约束项,通过最小化具有路径参数同步约束的代价函数,给出了基于分布式预测控制路径参数同步控制器的设计方法.最后,仿真验证了所提算法能够使多移动机器人在间歇通信的条件下完成编队任务.
Abstract
A distributed switching predictive control method is proposed for multi-robot formation with intermittent com-munication.Firstly,in order to reduce the communication cost,the switching topology strategy is described as in-termittent communication,and the multi-robot formation is modeled as a switching system model with path parame-ter synchronization constraints.For the nominal system,the sufficient conditions for the exponential stability of the nominal system and the design method of the stabilizing controller are given by using the distributed switching pre-dictive control method.For the path parameter synchronization constraint term,the design method of path parame-ter synchronization controller based on distributed predictive control is given by minimizing the cost function with path parameter synchronization constraint.Finally,the simulation verifies that the proposed algorithm can enable multiple mobile robots to complete the formation task under the condition of intermittent communication.
关键词
多移动机器人/间歇性通信/切换预测控制/编队控制Key words
multiple mobile robot/intermittent communication/switched predictive control/formation control引用本文复制引用
出版年
2024
国家科技期刊平台
NSTL
维普
万方数据