分数阶多机器人的领航–跟随型环形编队控制

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....

Annular formation control of the leader-follower multi-robot based on fractional order

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.