Multi-Mobile Robot Leader-Follower Formation Distributed Control Under Switching Topology
作者单位：School of Electrical and Information EngineeringHunan University
会议名称：《第32届中国控制与决策会议》
会议日期：2020年
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]
关 键 词：Multi-mobile robot Switching systems Leader-Follower Distributed control
摘 要：According to the characteristics of nonholonomic mobile robot kinematics model,this paper analyzes the changes of topology among multi-mobile robots,and proposes a distributed formation control ***,the dynamic and kinematics equations of the multi-mobile robot system are analyzed,and a distributed estimation strategy for system stability is proposed under the condition of fixed ***,considering the stable switching topology,the globally uniform exponential convergence conditions of leader-follower formation system are studied by Lyapunov ***,the upper and lower bounds of the convergence time of hybrid switching systems are determined by the mean delay time *** results show that these method are feasible.