[1]XU Zhiqiang,CHEN Xuebo.Consensus coordinated control for swarm robots formation based on inclusion principles[J].CAAI Transactions on Intelligent Systems,2015,10(2):301-306.[doi:10.3969/j.issn.1673-4785.201311073]
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Consensus coordinated control for swarm robots formation based on inclusion principles

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 2 Page number: 301-306 Column: 学术论文—智能系统 Public date: 2015-04-25
Title:
Consensus coordinated control for swarm robots formation based on inclusion principles
Author(s):
XU Zhiqiang1;  CHEN Xuebo2
1. School of Electronics and Information Engineering, Liaoning University of Science and Technology, Anshan 114051, China;
2. Graduate School, Liaoning University of Science and Technology, Anshan 114051, China
Keywords:
inclusion principle; swarm robots; pair-wise decomposition; formation control; consensus; coordinated control
CLC:
TP18
DOI:
10.3969/j.issn.1673-4785.201311073
Abstract:
By using the system inclusion principles, the pair-wise decomposition and decentralized coordinated control 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 observer of every pair-wise subsystem of the expanded system were designed independently by consensus rule. According 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.
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