中文摘要：

研究多机器人系统的协同一致性问题.在考虑了系统中存在采样、保持以及时延的情况下,对多机器人系统进行稳定性分析.提出了一种简便的图形的稳定性判据,以保证多机器人协同控制系统的一致性收敛.在此基础上,推导出了时延为一个采样周期时系统的稳定域.最后,利用Matlab进行车辆编队控制系统的仿真,结果证明了提出的稳定性判据的可行性.

英文摘要：

This paper investigated the cooperative consensus problem for multi-robot systems.The stability of the multi-robot system was analyzed with the presence of sampling,hold and time delays.A simple diagrammatic stability criterion was presented to guarantee that the cooperative control of multi-robot system could achieve consensus.Based on this criterion,the system stability region was derived when the time delay was equal to a sampling period.Finally,simulation examples of vehicle formations were provided to show the validity of the diagrammatic stability criterion.