Research On Multi-Robot Cooperative Control Algorithm For Consensus

At present,multi-agent cooperative control has been applied in various fields by its rapid development,and the most typical application is the distributed cooperative control of multi-robot.In the research of coloperative control,the core problem is to design the consensus algorithm,and it is discussed in the other complex systems as the theoretical basis of cooperative control.In this paper,the position cooperative control in multi-robot systems is studied based on the consensus algorithm,and the consensus and rotating consensus of multi-robot are theoretically analyzed and demonstrated from the aspects of communication topology,communication delay and state constraints.The proposed control algorithm and its theoretical results are verified by numerical simulations.I propose a consensus algorithm for the second-order multi-robot system with the velocity constraints,dynamic topologies and communication delay,and use a constraint function to constrain the velocity of each agent in a nonconvex set.Finally,through the multiple model transformation and nonnegative matrix method,the sufficient conditions of the system consensusfor the consistency of the system are obtained.For the multi-robot system with control input constraints,we study the second-order continuous-time,heterogeneous discerete-time and high-order heterogeneous consensus problem,respectively.For continuous-time systems,the method is to transform the system matrix into Metzler matrix and obtain the consensus conditions.For discrete-time systems,the auxiliary matrix is used to transform the system into a random matrix,and the stability of the system is proved by the characteristics of random matrix.Based on the practical application of multi-robot,this paper studies the rotating consensus problem of multi-robot system in two-dimensional plane.According to whether the agent has velocity sensor,the control protocol with velocity measurement and the control protocol without velocity measurement are innovatively designed.And by analyzing the characteristics of the characteristic equations to prove that the system is stable.Based on existing research,this paper independently studies the consensus problem of high-order heterogeneous continuous-time multi-robot with control input constraints and the consensus problem of heterogeneous discrete multi-robot,and successfully solves them by different methods and ideas.In addition,a new control strategy is proposed for the problem of rotating consensus,and the stability of the system is analyzed.