A robust consensus algorithm for multirobot systems

作者：Jiang Yu Lian^*; Liu Jian Chang; Tan Shu Bin; Wang Shen Quan

来源：Journal of Northeastern University, 2014, 35(8): 1065-1068.

DOI：10.3969/j.issn.1005-3026.2014.08.001

• Consensus
• Differential game theory
• Differential games
• Differential wheeled mobile robots
• Exogenous disturbances
• Multi-robot systems
• Partial information
• Robust performance

For a multirobot system subjected to exogenous disturbance and with partial information given, a robust consensus algorithm is developed to solve the output consensus problems. The kinematic model of a differential wheeled mobile robot is presented first. According to the idea of combining global control with local control, the consensus based on a multi-agent system is mathematically described. Then, a reasonable robust performance index is proposed, and utilizing H∞robust control and differential game theory, a robust consensus algorithm is designed. An example is simulated to demonstrate that the proposed method can guarantee the velocity consensus autonomously for each robot and restrain disturbance.

• 单位
  东北大学