Abstract：In the application of artificial intelligence, the cooperation of multi robots can solve complex problems in practical engineering and become the research hotspot. In this paper, an input-constrained finite-time consistency algorithm is proposed to solve the formation control problem of nonholonomic mobile robots. By using the analysis tools such as algebraic graph theory, modern control theory and matrix theory, the formation problem of multi-robot system is transformed into the path tracking problem by introducing the virtual navigator. It is proved that the multi-robot system can realize the finite time convergence under the condition of input saturation. And the sufficient condition is obtained in finite time. Finally, the effectiveness of the proposed algorithm is verified by computer simulation.
孙玉娇, 杨洪勇, 于美妍. 基于领航跟随的多机器人系统有限时间一致性控制研究[J]. 复杂系统与复杂性科学, 2020, 17(4): 66-72.
SUN Yujiao, YANG Hongyong, YU Meiyan. The Finite Time Consistency Control of Multi-Robot Systems Based on Leader-Following Systems Based on Leader-Following. Complex Systems and Complexity Science, 2020, 17(4): 66-72.
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