Formation Control Of Multi-robot System Based On Artificial Potential Field And Its Application In Target Enclosing

With the development of modern science and technology,the multi-robot systems with multi disciplines play an important role in many aspects of society,and have obtained many achievements.Because of the wide application prospect and potential in national defense,industry,and life etc.,the multi-robot system is gradually replacing the single robot system.Therefore,in recent years,the cooperation control problem of multi-robot system has become a hot topic,and has been attracted great attention from many scholars.In this paper,the potential field method is introduced to analyze the distance-based formation control of multi-robot system,and the robots can adapt to the changes of the surrounding environment.The potential field can be used to define the environment,and the collision between the robots and the obstacles can be avoided using the coordination formation control of multi-robot system based on potential function method,and it also can used to realize the moving target tracking,which is very important in practical application.The main work of this thesis can be summarized as follows:1.The stability of the undesired equilibria based on first-order integrator is studied,the closed-loop system dynamics in the edge space are considered,and we give a stability criterion for the undesired equilibria of the rigid formation systems using the center manifold theory.2.The formation control problem of nonholonomic robots is investigated.Based on the negative gradient method,the Lyapunov direct method and the adaptive perturbation method,the proposed control law can guarantee the globally exponential stability of the desired triangle and line formation,and tie equilibrium set of the overall system is unique,which is exactly the desired formation set.3.The enclosing control problem of time-varying moving-target is studied.The enclosing behavior is divided into the formation shape control and the maintaining of the distance between the robot and the target.Then the control law is designed using the back-stepping method.And the proposed control algorithm can guarantee that the multi-agent system can enclose the moving target and have the same speed,moreover,all the communicating robots can't collide each other,...