| Research on formation control of multi-robot systems has always been the focus on related study.In recent years,with the development of robot technology,robot application haves become an indispensable part of various fields,and the study tasks of robot technology have become more complicated,which result in that robots need to cooperate with multiple robots when performing tasks in dynamic and complex environments.Therefore,the rational formation and planning of multi-robot systems have far-reaching significance for the development of society.This paper combines the formation control of multi-robot groups with fractional order control.The main research content is the following aspects:When the target robot was in a stationary state,the pilot-following robot group formation was used to encircle the target to obtain local information of the target robot,and the static multi-target robot can achieve the purpose of enclosing control.In the formation control of multiple static targets studied in this paper,the multiple target robots have not reached communication with each other.They were independent individuals,and it was the follower robot that obtains the position status of the adjacent target and completes the formation control.For the surrounding control problem of static targets,Lyapunov's stability theorem,algebraic graph theory and matrix theory were used to obtain sufficient conditions of realizing the target control formation of static multi-robot system.Finally,the simulation of a group of multi-robot queues was carried out to verify the effectiveness of the method.Aiming at the complex problem of annular formation control in fractional order multi-robot system,an annular formation control method based on fractional order multi-robot was proposed,which could estimate the state of multiple robots.The leader obtained the information of the target state in the system,and the follower monitored the state information of the leader and completed the surround formation control.According to Lyapunov and Mittag stability theory,we obtained the sufficient conditions of the annular formation control for the multi-robot systems,so we can realize the formation control of the multi-robot system surrounding the target.Based on the discussion of target-encircling formation control of the multi-robot system,the coordination problem of the fractional-order multi-robot system with unknown continuous external disturbance was further analyzed.Based on the output information,a state estimator was designed to obtain information of all target robots and unknown continuous external disturbances,and a new distributed controller was also designed.What is more,we used the algebraic graph theory and Mittag-leffler stability theorem to analyze the convergence of the closed-loop system in this paper,and we derived the sufficient conditions for the consistency matrix inequality.Finally,a simulation analysis of the consistency of a group of multi-robot formations was completed on the Matlab simulation experimental platform,which verified the effectiveness of the method. |
