针对特定领航者模式的多机器人系统稳定性问题, 提出了一种基于一致性的编队控制算法。考虑系统的各个状态都能够收敛到期望的定常相对值, 利用Lyapunov稳定性理论和矩阵理论, 推导出了该类方法使多机器人编队系统达到一致的充分条件, 得到设计该条件下系统一致性协议的约束。随机设置了特定领航者模式的通信拓扑关系, 利用上述推导获得的充分条件, 进而对该算法收敛性进行分析, 并针对该模式给出一个满足条件的算法。数值仿真验证了所提算法的有效性。

Considering the stability of a multi robot system with a specific leader mode, we derived a typical control method for the formation control based on consistency. Lyapunov stability theory and matrix theory were used for deriving the sufficient condition for the multi robot system formation to reach consistency, and the constrains for the system consistency protocol under the condition were obtained. The communication topological relation of the leader mode was set up randomly; the sufficient condition obtained was used for analyzing the convergence performance of the algorithm, and an algorithm satisfying the condition for this mode was presented. Digital simulation result verified the effectiveness of the proposed algorithm.