Decentralized control of cooperative robotic vehicles: Theory and application

被引：165

作者：

Feddema, JT ^{[1
]}

Lewis, C ^{[1
]}

Schoenwald, DA ^{[1
]}

机构：

[1] Sandia Natl Labs, Albuquerque, NM 87185 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2002年 / 18卷 / 05期

关键词：

autonomous vehicles; cooperative robots; decentralized control; stability;

D O I：

10.1109/TRA.2002.803466

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper describes how decentralized control theory can be used to analyze the control of multiple cooperative robotic vehicles. Models of cooperation are discussed and related to the input/output reachability, structural observability, and controllability of the entire system. Whereas decentralized control research in the past has concentrated on using decentralized controllers to partition complex physically interconnected systems, this work uses decentralized methods to connect otherwise independent nontouching robotic vehicles so that they behave in a stable, coordinated fashion. A vector Liapunov method is used to prove stability of two examples: the controlled motion of multiple vehicles along a line and the controlled motion of multiple vehicles in formation. Also presented are three applications of this theory: controlling a formation, guarding a perimeter, and surrounding a facility.

引用

页码：852 / 864

页数：13

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