论文标题
多机器人系统的分布式形成控制：固定时间行为方法
Distributed Formation Control of Multi-Robot Systems: A Fixed-Time Behavioral Approach
论文作者
论文摘要
本文研究了网络机器人的分布式形成控制问题，其全球目标是在具有障碍的环境中实现预定义的时变地层。提出了一种新颖的固定时间行为方法来解决该问题，其中全局形成任务被分为两个局部优先级子任务，并且每个子任务都会导致所需的速度，该速度可以在固定时间内实现单个任务。然后，通过基于空空间的行为投影的框架组合了两个所需的速度，从而导致所需的合并速度保证任务错误的固定时间收敛性。最后，通过模拟结果证明了所提出的控制方法的有效性。
This paper investigates a distributed formation control problem for networked robots, with the global objective of achieving predefined time-varying formations in an environment with obstacles. A novel fixed-time behavioral approach is proposed to tackle the problem, where a global formation task is divided into two local prioritized subtasks, and each of them leads to a desired velocity that can achieve the individual task in a fixed time. Then, two desired velocities are combined via the framework of the null-space-based behavioral projection, leading to a desired merged velocity that guarantees the fixed-time convergence of task errors. Finally, the effectiveness of the proposed control method is demonstrated by simulation results.
