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非完整约束多智能体系统基于屏障控制函数的分布式协同控制
引用本文:娜茜泰,高飞,翁智,夏元清. 非完整约束多智能体系统基于屏障控制函数的分布式协同控制[J]. 控制理论与应用, 2022, 39(4): 663-670
作者姓名:娜茜泰  高飞  翁智  夏元清
作者单位:内蒙古大学电子信息工程学院,内蒙古呼和浩特010021;北京理工大学自动化学院,北京100081
基金项目:国家自然科学基金项目(61941304, 61966026), 内蒙古自治区自然科学基金项目(2019BS06006, 2020BS06004)资助.
摘    要:本文设计了一种基于屏障控制函数(CBF)的分布式协同控制算法,实现了领航–跟随者框架下非完整约束多智能体系统的连通性与编队控制.首先,通过将连通性保持问题建模为系统约束,定义了该约束的调零屏障函数(ZBF).其次,在此基础上,构建李雅普诺夫函数与角速度输入之间的关系,对跟随者智能体设计了基于调零屏障函数的协同控制算法,其中线速度控制器保证跟随者的速度的跟踪与队形的跟踪,而梯度型角速度控制器实现跟随者角度的矫正.然后,利用调零屏障函数不变集相关引理证明了连通性约束集为正不变集,若初始时刻连通,则跟随者智能体始终与领航者保持连通性.同时,本文提出的算法实现编队误差的渐近收敛.本文中的队形适用常见的固定队形编队需求,也适用于领航者是动态(有线速度和角速度)的情况.最后,通过数值仿真进一步验证了该算法在不同队形需求下的有效性.

关 键 词:多智能体系统  屏障控制函数  非完整约束系统  连通性  编队
收稿时间:2021-01-23
修稿时间:2022-01-08

Cooperative control of nonholonomic multi-robot system using control barrier functions
NA Xi-tai,GAO Fei,WENG Zhi and XIA Yuan-qing. Cooperative control of nonholonomic multi-robot system using control barrier functions[J]. Control Theory & Applications, 2022, 39(4): 663-670
Authors:NA Xi-tai  GAO Fei  WENG Zhi  XIA Yuan-qing
Affiliation:Inner Mongolia Univesity,Inner Mongolia Univesity,Inner Mongolia Univesity,Beijing Institute of Technology
Abstract:In this paper, a distributed cooperative control algorithm based on the control barrier function (CBF) isdesigned to realize the connectivity and formation control of nonholonomic constrained multi-agent systems under theleader-follower framework. The connectivity maintenance objective is modeled as a system constraint, and the correspondingzeroing barrier function (ZBF) is defined. By constructing the relationship between the Lyapunov function and theinput angular velocity, the linear velocity controller ensures speed tracking and formation tracking, and angular velocitycontroller realizes the correction of motion angle. The connectivity constraint ZBF is proved to be positive invariant, whichshows that the follower agent always maintains connectivity with the leader when they are initially connected, meanwhilethe formation error is asymptotically convergent. The formation in this paper is appropriate for not only the common fixedformation requirements, but also the situation where the leader is dynamic (with linear speed and angular speed). At theend of this paper, the effectiveness of the proposed algorithm under different formation is verified by numerical simulation.
Keywords:multi-agent systems   control barrier function   nonholonomic systems   connectivity   formation
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