Distributed multi-robot formation control in switching networks

被引：19
作者：
Wang, Qin [1 ,2 ]
Chen, Zuwen [1 ]
Liu, Peng [2 ]
Hua, Qingguang [1 ]
机构：
[1] Yangzhou Univ, Sch Informat Engn, Yangzhou 225127, Jiangsu, Peoples R China
[2] Southeast Univ, Sch Instrument Sci & Engn, Nanjing 210096, Jiangsu, Peoples R China
来源：
NEUROCOMPUTING | 2017年 / 270卷
关键词：
Globally rigid formation; Switching topology; Formation-shape control; RIGID FORMATIONS; STABILIZATION; STABILITY;
D O I：
10.1016/j.neucom.2016.12.104
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
A rigid formation control problem with switching topology is studied in this paper. Then the nonsmooth analysis and nonlinear theory are employed to analyze the stability of the multi-robot formation system. By use of the navigation function method and the adaptive perturbation method, the proposed formation control law can guarantee the global stabilization of the rigid formation and the collision avoidance between communicating robots regardless of the topology switching, as long as the graph topology remains rigid all the time. The effectiveness of the proposed control strategy is verified by simulation examples. (C) 2017 Elsevier B.V. All rights reserved.
引用
收藏
页码：4 / 10
页数：7
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