| A decentralized robust control problem for muti-robot formation control system is discussed. In this paper, considering of information overlapping structure of systems, subsystem data transmission delay and data packet dropout, focusing on how to design decentralized robust controller, thus ensuring that the stability of entire muti-robot formation control system; Mainly focusing on the decentralized robust control problem of subsystem with the data transmission delay and data packet dropout phenomenon.First of all, this paper Considers of leader-follower form formation control method, based on inclusion principle and the decomposition met- hod of multi-overlapping information structure the system were decomp- osed two-two-subsystems which are composed by two robots. For each subsystem data transmission delay and subsystem structure uncertainty, this paper established the discrete mathematical model of the multi robot formation control system.Secondly, one approach of designing the H∞suboptimal decentraliz- ed robust controller is proposed for the systems with perturbation and data transmission delay; another approach of designing the H∞suboptimal decentralized robust controller is proposed for the systems with perturbation and data packet dropout phenomenon. The two kinds of approaches are proposed by the linear matrix inequalities (LMIs) method. Simulate the effects of the two kinds of decentralized robust controller.Finally, the simulation results show that, this paper presents the de- sign of decentralized robust controller method can overcome the various subsystems of the data transmission delay and data packet dropout phen- omenon and make uncertainty discrete multi robot formation control system with structure uncertainty stabile. |
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