| 基于网络通信的多机器人系统的稳定性分析 |
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| 引用本文： | 吴俊,陆宇平.基于网络通信的多机器人系统的稳定性分析[J].自动化学报,2010,36(12):1706-1710. |
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| 作者姓名： | 吴俊 陆宇平 |
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| 作者单位： | 1.南京航空航天大学自动化学院 南京 210016 |
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| 摘 要： | 研究多机器人系统的协同一致性问题. 在考虑了系统中存在采样、保持以及时延的情况下, 对多机器人系统进行稳定性分析. 提出了一种简便的图形的稳定性判据, 以保证多机器人协同控制系统的一致性收敛. 在此基础上, 推导出了时延为一个采样周期时系统的稳定域. 最后, 利用Matlab进行车辆编队控制系统的仿真, 结果证明了提出的稳定性判据的可行性.
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| 关 键 词： | 多机器人系统 协同控制 一致性算法 系统稳定性 |
| 收稿时间： | 2010-1-21 |
| 修稿时间： | 2010-6-4 |
Stability Analysis of Multi-robot System Based on Network Communication |
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| WU Jun,LU Yu-Ping.Stability Analysis of Multi-robot System Based on Network Communication[J].Acta Automatica Sinica,2010,36(12):1706-1710. |
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| Authors: | WU Jun LU Yu-Ping |
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| Affiliation: | 1.College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016 |
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| Abstract: | This paper investigated the cooperative consensus problem for multi-robot systems. The stability of the multi-robot system was analyzed with the presence of sampling, hold and time delays. A simple diagrammatic stability criterion was presented to guarantee that the cooperative control of multi-robot system could achieve consensus. Based on this criterion, the system stability region was derived when the time delay was equal to a sampling period. Finally, simulation examples of vehicle formations were provided to show the validity of the diagrammatic stability criterion. |
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| Keywords: | Multi-robot system cooperative control consensus algorithm system stability |
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