Fully Distributed Region-Reaching Control with Collision Avoidance for Multi-robot Systems
| Autor: | Zhonghua Miao, Jinchen Ji, Jinwei Yu, Jin Zhou |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Adaptive control Matching (graph theory) Computer science General Mathematics Stability (learning theory) 02 engineering and technology Classification of discontinuities 01 natural sciences Computer Science Applications symbols.namesake Industrial Engineering & Automation 020901 industrial engineering & automation Control and Systems Engineering Control theory 0103 physical sciences symbols Robot 0801 Artificial Intelligence and Image Processing 0906 Electrical and Electronic Engineering 0913 Mechanical Engineering 010301 acoustics Software Collision avoidance |
| Zdroj: | Robotica. :1-12 |
| ISSN: | 1469-8668 0263-5747 |
| Popis: | SUMMARYThis paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method. |
| Databáze: | OpenAIRE |
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