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多机器人系统的一致性是研究多机器人合作控制领域的一个基础问题,在一致性的基础上,提出多机器人系统的可控问题.首先本文在给定的时变参考状态下,为实现系统中的机器人与参考状态保持一致,针对全局连通情形提出了一种方法.但这种方法并不能解决一般的一致性问题,为解决一般的一致性问题,在考虑系统状态微分的前提下提出了一新方法,可以很好的解决一般的一致性问题,并通过不同状态下的仿真分析验证了所提出方法的有效性.
The consistency of multi-robot system is a fundamental problem in the field of multi-robot cooperative control, and on the basis of consistency, a multi-robot system controllable problem is proposed.Firstly, under the given time-varying reference state, Of the robot is consistent with the reference state, a method is proposed for the global connectivity situation, but this method can not solve the general consistency problem. In order to solve the general consistency problem, we consider the system state differentiation under the premise of The new method can well solve the general problem of consistency and verify the effectiveness of the proposed method through the simulation under different states.