Impulsive control for multi-robot formation with communication delay based on predictive control

被引：0
|
作者：
Zhang G.-L. [1 ]
Du B.-Y. [1 ]
Sun Y.-J. [1 ]
Xu J. [1 ]
Tang W.-J. [1 ]
机构：
[1] Teaching and Research Section 301, Hi-Tech Institution of Xi'an, Xi'an
来源：
Kongzhi yu Juece/Control and Decision | 2016年 / 31卷 / 08期
关键词：
Formation control; Impulsive control; Multi-robot system; Predictive control; Time delay;
D O I：
10.13195/j.kzyjc.2015.0564
中图分类号：
学科分类号：
摘要：
Concerning the communication delay of multi-robot formation control, an impulsive control algorithm based on predictive control is proposed. The formation control is transformed into the stability problem by using consensusibility. The predictive model is established. And then the sufficient condition of stability in the multi-robot formation control is obtained by utilizing the stability theorem of Schur (the Lyapunov stability theorem in discrete time) and the impulsive protocol. In the simulation, the communication topology with a spinning tree is set up randomly, and different sample periods with time delay in multi-robot formation control is compared. Simulation results show the effectiveness of the proposed algorithm. © 2016, Editorial Office of Control and Decision. All right reserved.
引用
下载
收藏
页码：1453 / 1460
页数：7
相关论文
共 20 条
  • [1] Li Z.J., Li J.X., Kang Y., Adaptive robust coordinated control of multiple mobile manipulators interacting with rigid environments, Automatica, 46, 12, pp. 2028-2034, (2010)
  • [2] Abdessameud A., Tayebi A., Formation control of VTOL unmanned aerial vehicles with communication delays, Automatica, 47, 11, pp. 2383-2394, (2011)
  • [3] Beard R.W., Lawton J., Hadaegh F.Y., A coordination architecture for spacecraft formation control, IEEE Trans on Control Systems Technology, 9, 6, pp. 777-790, (2001)
  • [4] Smith R.S., Hadaegh F.Y., Control of deep-space formati on-flying spacecraft relative sensing and switched information, J of Guidance, Control, and Dynamics, 28, 1, pp. 106-114, (2009)
  • [5] Min H.B., Liu Y., Wang S.C., Et al., An overview on coordination control problem of multi-agent system, Acta Automatic Sinica, 38, 10, pp. 1557-1570, (2012)
  • [6] Wang X.K., Li X., Zheng Z.Q., Survey of developments on multi-agent formation control related problems, Control and Disicion, 28, 11, pp. 1601-1613, (2013)
  • [7] Fax J.A., Murray M.R., Information flow and cooperative control of vehicle formations, IEEE Trans on Automatic Control, 49, 9, pp. 1465-1477, (2004)
  • [8] Ren W., Beard R., Consensus seeking in multi-agent systems under dynamically changing interaction topologies, IEEE Trans on Automatic Control, 50, 5, pp. 655-661, (2005)
  • [9] Ren W., Consensus strategies for cooperative control of vehicle formations, IET Control Theory & Applications, 1, 2, pp. 505-512, (2007)
  • [10] Tan C., Liu G.P., Consensusability of discrete-time linear networked multi-agent systems, UKACC Int Conf on Control, pp. 1100-1105, (2012)
12