Formation-containment control of multi-robot systems under a stochastic sampling mechanism

作     者：SU HouSheng ZHANG JinXin ZENG ZhiGang SU HouSheng;ZHANG JinXin;ZENG ZhiGang

作者机构：Key Laboratory of Image Processing and Intelligence Control of Ministry of EducationSchool of Artificial Intelligence and AutomationHuazhong University of Science and TechnologyWuhan 430074China 

出 版 物：《Science China(Technological Sciences)》 (中国科学（技术科学英文版）)

年 卷 期：2020年第63卷第6期

页      面：1025-1034页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 

基　　金：supported by the National Natural Science Foundation of China(Grant No.61873318) the Frontier Research Funds of Applied Foundation of Wuhan(Grant No.2019010701011421) the National Defense Scienceof China(Grant No.JCKY2017207B005) the Program for HUST(Huazhong University of Science and Technology)Academic Frontier Youth Team(Grant No.2018QYTD07) 

主　　题：formation-containment multi-robot systems stochastic sampling 

摘      要：This paper studies the problem of formation-containment for multi-robot systems with stochastic ***,a stochastic sampling control protocol is proposed,in which information exchanging among robots only occurred at the sampling time and two different sampling periods randomly ***,both energy and controller updating frequencies can be ***,the protocol can be applied to the situation where the sampling period varies ***,sufficient conditions guaranteeing mean square formation-containment are *** stochastic sampling mechanism,the leaders reach a geometric formation shape and the followers are in the geometric formation shape formed by the ***,an example is shown to demonstrate the results.