[1]徐志强,陈雪波.包含原理的群体机器人队形一致协调控制[J].智能系统学报,2015,10(02):301-306.[doi:10.3969/j.issn.1673-4785.201311073]
　XU Zhiqiang,CHEN Xuebo.Consensus coordinated control for swarm robots formation based on inclusion principles[J].CAAI Transactions on Intelligent Systems,2015,10(02):301-306.[doi:10.3969/j.issn.1673-4785.201311073]
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第10卷
期数:
2015年02期
页码:
301-306
栏目:
出版日期:
2015-04-25

文章信息/Info

Title:
Consensus coordinated control for swarm robots formation based on inclusion principles
作者:
徐志强1;  陈雪波2
1. 辽宁科技大学 电子与信息工程学院, 辽宁 鞍山 114051;
2. 辽宁科技大学 研究生院, 辽宁 鞍山 114051
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
关键词:
包含原理; 群体机器人; 对对分解; 队形控制; 一致性; 协调控制
Keywords:
inclusion principle; swarm robots; pair-wise decomposition; formation control; consensus; coordinated control
分类号:
TP18
DOI:
10.3969/j.issn.1673-4785.201311073
文献标志码:
A
摘要:
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。
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.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期:2013-11-28;改回日期:。
基金项目:国家自然科学基金资助项目(60874017).
作者简介:徐志强,男,1987年生,硕士研究生,主要研究方向为复杂系统、群集智能;陈雪波,男,1960年生,教授,博士生导师,中国自动化学会过程控制专业委员会委员。主要研究方向为复杂系统、群集智能。主持多项国家及省部级科研基金项目。出版学术专著1部。
通讯作者:陈雪波.E-mail:xuebochen@126.com.
更新日期/Last Update: 2015-06-15