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| Received:December 10, 2009Revised:April 21, 2010 |
| 基金项目:This work was supported partly by the National Natural Science Foundation of China (No. 60736023), and the National Natural Science Foundation of China (No. 60704014). |
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| Robust distributed control of robot formations with parameter uncertainty |
| Huang HUANG,Qinghe WU,Di YU |
| (Beijing Institute of Control Engineering, and Science and Technology on Space Intelligent Control Laboratory;School of Automation, Beijing Institute of Technology) |
| Abstract: |
| This paper discusses robot formations in a distributed framework. The most important contribution is the incorporation of robustness into robot formation systems. When robots carry out tasks in a poor environment, the parameters in their models fluctuate around the nominal values, which may destroy the stability of the formation system. By modeling the group of robots as an interconnected system, we aim to develop a set of robust distributed controllers such that the overall system is robust to external disturbance as well as parameter uncertainty. Based on the graph rigidity theory, we also consider the rotation of a formation that plays an important role in real-time applications. Both simulations and real-time experiments are carried out to validate the effectiveness of the proposed framework. |
| Key words: Robots formation Distributed control Parameter uncertainty LMI |
