论文标题
具有异质感应机制的基于梯度的分布式形成控制的稳定性分析：两个和三个机器人情况
Stability Analysis of Gradient-Based Distributed Formation Control with Heterogeneous Sensing Mechanism: Two and Three Robot Case
论文作者
论文摘要
本文重点介绍了使用异构感应机制的一组移动机器人展示的形成形状的稳定性分析。根据本地信息的便利性和可靠性，每个机器人都利用流行的基于梯度的控制法，在本文中是基于距离或仅轴承的形成控制。对于两种机器人情况，我们表明，基于异质梯度的控制定律的使用可能会导致不想要的不变式集合，其中扭曲的地层形状正在以恒定的速度移动。这种不变集的（在）稳定性取决于指定的距离和轴承约束。对于两个机器人情况，我们证明了所需平衡集的几乎全局稳定性，而对于三个机器人情况，我们保证局部渐近稳定性为正确的形成形状。我们还得出了三个机器人案例的条件，在该机器人情况下，不需要的不变套件在本地具有吸引力。提供了数值模拟，以说明三种机器人情况中的理论结果。
This paper focuses on the stability analysis of a formation shape displayed by a team of mobile robots that uses heterogeneous sensing mechanism. Depending on the convenience and reliability of the local information, each robot utilizes the popular gradient-based control law which, in this paper, is either the distance-based or the bearing-only formation control. For the two and three robot case, we show that the use of heterogeneous gradient-based control laws can give rise to an undesired invariant set where a distorted formation shape is moving at a constant velocity. The (in)stability of such an invariant set is dependent on the specified distance and bearing constraints. For the two robot case, we prove almost global stability of the desired equilibrium set while for the three robot case, we guarantee local asymptotic stability for the correct formation shape. We also derive conditions for the three robot case in which the undesired invariant set is locally attractive. Numerical simulations are presented for illustrating the theoretical results in the three robot case.
