Multi-robot cooperative control has gained extensive research interest due to its wide applications in civil, security, and military domains. This paper proposes a cooperative control algorithm for multi-robot systems with general linear dynamics. The algorithm is based on distributed cooperative optimisation and output regulation, and it achieves global optimum by utilising only information shared among neighbouring robots. Technically, a high-level distributed optimisation algorithm for multi-robot systems is presented, which will serve as an optimal reference generator for each individual agent. Then, based on the distributed optimisation algorithm, an output regulation method is utilised to solve the optimal coordination problem for general linear dynamic systems. The convergence of the proposed algorithm is theoretically proved. Both numerical simulations and real-time physical robot experiments are conducted to validate the effectiveness of the proposed cooperative control algorithms.
翻译:多机器人合作控制因其在民用、安全和军事领域的广泛应用而获得了广泛的研究兴趣。本文件建议对具有一般线性动态的多机器人系统采用合作控制算法。该算法基于分布式合作优化和输出调节,通过只使用相邻机器人共享的信息实现全球最佳效果。从技术上讲,提出了多机器人系统高层次分布优化算法,作为每个代理人的最佳参考生成器。然后,根据分布式优化算法,使用产出调节法解决一般线性动态系统的最佳协调问题。拟议的算法在理论上证明趋同。进行了数字模拟和实时物理机器人实验,以验证拟议的合作控制算法的有效性。