基于分布式优化的多机器人系统分散协调控制
Decentralised and Cooperative Control of Multi-Robot Systems through Distributed Optimisation
摘要：
多机器人协作控制在民用、安全、军事等领域有着广泛的应用前景，因此受到了广泛的关注。针对具有一般线性动力学的多机器人系统，提出了一种协调控制算法。该算法基于分布式协作优化和输出调节，仅利用相邻机器人之间共享的信息实现全局最优。技术上，一个高层次的分布式优化算法的多机器人系统，这将作为一个最佳的参考发电机为每个单独的代理。然后，基于分布式优化算法，利用输出调节法求解一般线性动态系统的最优协调问题。理论上证明了算法的收敛性。数值仿真和实时物理机器人实验验证了所提出的协同控制算法的有效性。
英文摘要：
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.
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