Abstract
A high-order bilateral consensus robot formation control protocol for multi-agent systems is proposed in this paper. Considering the relationship between the state of the information exchange topology and derivatives, a third-order bilateral consistency protocol is presented and is extended it to a higher order bilateral consensus protocol. First, sufficient conditions for the third-order multi-agent system are given to achieve the bilateral consensus control protocol, and the system’s asymptotical stability is also achieved by adjusting the feedback system gain parameters. Then, by further studying the cohesive relationship between each state variable of the third-order protocol and the gauge transformation, the sufficient conditions of the higher order system are also provided. Finally, by applying the third-order control protocol to the control of multi-robot formation, the general control scheme of robot formation is given and the control of robot formation is successfully achieved.
Highlights
In the process of continuous research and exploration in the field of robotics, researchers have gradually found that it is difficult to use a single robot system to operate in more complex working environments
Multi-robots work together to accomplish complex mission objectives, that have been widely used in the field of robotics, such as coordinated cargo transportation and intelligent assembly, multi-robot automated welding, and the cooperative work of spacecraft in the space field
Scheggi et al.5 achieved the control of robot formation via a visuo-haptic feedback mechanism
Summary
In the process of continuous research and exploration in the field of robotics, researchers have gradually found that it is difficult to use a single robot system to operate in more complex working environments. A distributed observation protocol for nonlinear dynamics, which transformed the formation tracking problem of multi-robot systems into a time-varying consensus problem. A large amount of simulation data and research results demonstrate that, via the interaction of positive and negative weights between agents that are both cooperative and antagonistic, the bilateral third-order consensus control protocol enables the robot formation to achieve consensus from two directions.
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