具有整体动作的网络化机器人系统的静态群二部一致性

IF 2.3 4区计算机科学 Q2 Computer Science

International Journal of Advanced Robotic Systems Pub Date : 2023-05-01 DOI:10.1177/17298806231177148

Zhaoyan Wang, Hengyu Li, Jun Liu, Tiehui Zhang, Xinru Ma, Shaorong Xie, Jun Luo

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引用次数: 1

摘要

随着现代工业的日益复杂，传统的群机器人单目标控制已不能满足应用需求。因此，本文讨论了群机器人系统的复合任务控制，其中控制目标和机器人的动力学分别由静态群二部共识和欧拉-拉格朗日系统建模。在引入网络欧拉-拉格朗日系统静态群-二部共识的概念后，设计了一种具有积分作用的分布式群-二部共识控制协议，并给出了保证静态群-二部共识达成的判据。该算法最显著的特点是能够准确地计算出系统的最终收敛状态。最后通过仿真算例验证了理论结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Static group-bipartite consensus in networked robot systems with integral action

With the increasing complexity of modern industry, the traditional single-target control of swarm robots can no longer meet application requirements. Hence, this article addresses compound task control for swarm robot systems, where the control aim and the dynamics of the robot are modeled by static group-bipartite consensus and Euler–Lagrange systems, respectively. After introducing the concept of static group-bipartite consensus in networked Euler–Lagrange systems, a distributed group-bipartite consensus control protocol with integral action is designed, and the criterion that ensures that static group-bipartite consensus is reached is presented. The most remarkable feature of the proposed algorithm is that it can accurately calculate the final state of system convergence. Finally, simulation examples are presented to verify the theoretical results.

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来源期刊

International Journal of Advanced Robotic Systems ROBOTICS-

CiteScore

6.50

自引率

0.00%

发文量

审稿时长

6 months

期刊介绍： International Journal of Advanced Robotic Systems (IJARS) is a JCR ranked, peer-reviewed open access journal covering the full spectrum of robotics research. The journal is addressed to both practicing professionals and researchers in the field of robotics and its specialty areas. IJARS features fourteen topic areas each headed by a Topic Editor-in-Chief, integrating all aspects of research in robotics under the journal''s domain.