针对非完整约束的多机器人动态编队中,各机器人只能获取相邻机器人方位信息的情况,提出了一种纯方位角信息的分布式PID编队控制算法。考虑领航机器人易受风向或路面平整度等扰动影响而带来无法保持编队队形的问题,该算法通过引入跟随机器人的相对位置和相对速度反馈,能够有效地消除稳态误差,抑制干扰的影响,改善系统的动态性能,并保证系统的全局稳定性。然后,利用Routh-Hurwitz稳定性判据进行稳定性分析,验证编队系统的全局稳定性。最后,通过仿真实验比较了所提控制律与基于纯比例和比例积分的控制律在收敛速度、抗干扰能力等方面的性能。仿真结果表明：所提控制律能够使领航者受到干扰后依然形成期望编队,并且能够实现对领航者轨迹的快速跟踪,总方位角误差的相对最大偏差下降了5.4%。

Aiming at the situation that each robot can only obtain the azimuth information of adjacent robots in the dynamic formation of multiple robots with incomplete constraints, a distributed PID formation control algorithm with pure azimuth information is proposed. Considering that the pilot robot is susceptible to disturbances such as wind direction or road surface flatness, which brings about the problem that the formation cannot be maintained, the algorithm can effectively eliminate the steady-state error, suppress the influence of interference, improve the dynamic performance of the system, and ensure the global stability of the system by introducing the relative position and relative speed feedback of the following robot. Then, the Routh-Hurwitz stability criterion is used to perform stability analysis to verify the global stability of the formation system. Finally, through simulation experiments, the performance of the proposed control law and the control law based on pure proportion and proportional integration in terms of convergence speed and anti-interference ability are compared. The simulation results show that the proposed control law can make the pilot still form the expected formation after being disturbed, and can realize the fast tracking of the leader"s trajectory, and the relative maximum deviation of the total azimuth error is reduced by 5.4%.

TP242

陕西省重点研发计划项目: 2023-YBGY-277；陕西省重点研发计划项目（2023-YBGY-409）