包含原理的群体机器人队形一致协调控制

摘要

By using the system inclusion principles, the pair⁃wise decomposition and decentralized coordinated con⁃trol of the overlapping interconnected systems were applied to the formation and consensus of swarm robots based on Leader⁃follower. The swarm robots system was expanded into multiple pair⁃wise subsystems composed of a leader and a follower. At the same time, taking the noise disturbance in actual systems into account, the controller and ob⁃server of every pair⁃wise subsystem of the expanded system were designed independently by consensus rule. Accord⁃ing to the relevant conditions of system inclusion principles, the expanded controller and observer could shrink back to the original system in order to achieve the overlapping decentralized coordinated control of the swarm system. More over, the analysis and design of systems are simplified. Finally, this method results were demonstrated by the computer simulation in seven robots forming a regular hexagon through considering the structural characteristic and research significance of the regular hexagonal formation.%利用系统包含原理，将重叠互联系统的对对分解与分散协调控制应用于基于Leader⁃follower方法的机器人队形形成与一致性中，对群体机器人系统重叠展开成由领导者和一个跟随者组成的多个子系统对，同时考虑现实系统中存在的噪声干扰，并根据一致性规则为扩展系统的每个子系统对设计独立的一致协调控制器与观测器。根据系统包含原理相关条件，将分散的控制器与观测器收缩回原系统，实现群体系统的重叠分散一致协调控制，简化了系统的分析与设计。最后，考虑六边形队形结构特点和研究意义，以7个机器人形成正六边形队形为例，用计算机仿真证明了此方法的有效性。