A robust consensus algorithm for multirobot systems

被引：0

作者：

Jiang, Yu-Lian ^{[1
,2
]}

Liu, Jian-Chang ^{[1
]}

Tan, Shu-Bin ^{[1
]}

Wang, Shen-Quan ^{[3
]}

机构：

[1] School of Information Science and Engineering, Northeastern University, Shenyang

[2] State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang

[3] College of Electrical and Electronic Engineering, Changchun University of Technology, Changchun

来源：

Dongbei Daxue Xuebao/Journal of Northeastern University | 2014年 / 35卷 / 08期

关键词：

Consensus; Differential game; H[!sub]∞[!/sub] robust control; Multi-agent; Robot;

D O I：

10.3969/j.issn.1005-3026.2014.08.001

中图分类号：

学科分类号：

摘要：

For a multirobot system subjected to exogenous disturbance and with partial information given, a robust consensus algorithm is developed to solve the output consensus problems. The kinematic model of a differential wheeled mobile robot is presented first. According to the idea of combining global control with local control, the consensus based on a multi-agent system is mathematically described. Then, a reasonable robust performance index is proposed, and utilizing H∞ robust control and differential game theory, a robust consensus algorithm is designed. An example is simulated to demonstrate that the proposed method can guarantee the velocity consensus autonomously for each robot and restrain disturbance.

引用

页码：1065 / 1068

页数：3

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