Abstract
AbstractThis paper investigates distributed optimal formation control for the multi-agent system of UGV (Unmanned Ground Vehicle). The model of UGV was analyzed starting from a single Mecanum wheel, establishing the relationship between the PWM (Pulse-Width Modulation) signals and the state information. A formation control protocol for a multi-UGV system is designed based on the consensus protocol. Combined with optimal control theory, a distributed optimal formation control protocol is studied. Compared with the non-optimal case, optimal control can effectively reduce the control cost and time. Finally, the designed protocol is applied to an engineering platform and the value of engineering is verified.KeywordsMulti-agent systemUGVDistributed controlFormation controlOptimal control
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