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
收藏
页码:1065 / 1068
页数:3
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