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基于虚拟结构的分布式编队控制方法

何 真，陆宇平，刘燕斌   

  1. 南京航空航天大学 自动化学院，江苏 南京 210016
  • 收稿日期:2006-12-31 修回日期:2007-04-02 出版日期:2007-07-30 发布日期:2007-07-30

Distributed Control of Formation Maneuvers Based on Virtual Structures

HE Zhen, LU Yu-ping, LIU Yan-bin   

  1. College of Automation Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
  • Received:2006-12-31 Revised:2007-04-02 Online:2007-07-30 Published:2007-07-30

被引次数

46

摘要： 提出一种用于编队机动运动控制的分布式编队控制方法。以虚拟结构为框架，在编队控制算法里加入队形反馈，邻近的分散编队控制器之间进行通信和协调，使得编队控制器既能控制编队机动运动速度，又能在编队机动过程中较好地维持队形。证明了该编队控制方法的收敛性。对有控制输入饱和约束的机器人组成的编队进行仿真，验证了该方法的有效性。

关键词: 编队控制, 虚拟结构, 队形反馈, 多机器人系统

Abstract: A distributed formation control approach to formation maneuvers is presented. Based on virtual structures, formation feedback is incorporated in the formation control scheme, which increases the robustness of the formation. The decentralized controllers are designed to communicate and cooperate with their neighbours, which keep the formation during the whole process of formation maneuvers. Convergence of the system is proved theoretically. Simulation results of multiple robot system with actuator saturation show effectiveness of the proposed control strategies.

Key words: formation control, virtual structure, formation feedback, multi-robot system