Distributed LQR Consensus Control for Heterogeneous Multiagent Systems: Theory and Experiments

被引：63

作者：

Mu, Bingxian ^{[1
]}

Shi, Yang ^{[1
]}

机构：

[1] Uni Victoria, Dept Mech Engn, Victoria, BC V8W 2Y2, Canada

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2018年 / 23卷 / 01期

基金：

加拿大自然科学与工程研究理事会; 中国国家自然科学基金;

关键词：

Consensus; distributed linear quadratic regulation (LQR); multiagent systems; quadrotor; two-wheeled mobile robot; COOPERATIVE CONTROL; AVERAGE CONSENSUS; OUTPUT-FEEDBACK; MARKOV-CHAIN; HIGH-ORDER; DELAYS; AGENTS; DESIGN; ALGORITHMS; NETWORKS;

D O I：

10.1109/TMECH.2018.2791544

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Controlling heterogeneous multiagent systems (MASs) to cooperatively accomplish tasks is currently an emerging topic in the application-oriented research of robotics. This paper investigates the consensus problem of a MAS consisting of quadrotors and two-wheeled mobile robots (2WMRs). Directed and switching interaction topologies over the network are considered. We propose a distributed linear quadratic regulation (LQR) consensus protocol for the quadrotors and design an LQR-based Rotate&Run Consensus Scheme for the 2WMRs to update the states. We use the algebraic graph theory and stochastic matrix analysis to conduct the convergence analysis of consensus. The underactuation characteristic of the 2WMR dynamics is considered in the controller design. The effectiveness of the control methods is verified by simulations and experiments.

引用

页码：434 / 443

页数：10

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