Annular formation control of the leader-follower multi-robot based on fractional order

被引：0
|
作者：
Wu X.-R. [1 ]
Xing M.-Y. [1 ]
机构：
[1] School of Electronic Engineering and Automation, Guilin University of Electronic Technology, Guilin
来源：
Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2021年 / 38卷 / 01期
基金：
中国国家自然科学基金;
关键词：
Annular formation; Formation control; Fractional order; Multi-robots; Target tracking;
D O I：
10.7641/CTA.2020.90969
中图分类号：
学科分类号：
摘要：
Aiming at the complex problem of annular formation control for fractional order multi robot system, an annular formation control method based on fractional order multi robot is proposed. The leader follower formation method is used to control the annular formation and target envelopment of the multi robot systems. The state estimation of multi robot is realized by designing state estimator. The leader obtains the information of the target state in the system, the followers detects the status of the leader and complete annular formation control, the multi-robot system forms the target tracking of the dynamic target. According to Lyapunov stability theory and Mittag Leffler's theorem, the sufficient conditions of the annular formation control for the multi robot systems are obtained in order to achieve annular formation control of the leader follower multi robot. The effectiveness of the proposed method is verified by simulation by simulation of a group of multi robot experiments. © 2021, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.
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页码：103 / 109
页数：6
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