中文摘要：

为消除弱通信因素给多机器人编队控制系统带来的影响,基于一致性理论,提出了一种时延依赖的分布式编队控制算法.利用编队图描述机器人群体内部的网络拓扑结构,通过图的矩阵表示,基于矩阵论和控制理论研究具有通信时延的多机器人系统形成稳定的期望编队的条件.根据Lyapunov稳定性定理,得到了线性矩阵不等式（LMI）形式的时延独立和时延依赖的稳定条件,并在此基础上进一步证明采用的控制方法能够保证多机器人系统全局渐近地收敛至期望队形和期望速度.最后,通过一个多机器人编队实例对控制算法和结论进行验证.结果表明在满足系统稳定条件下,所采用的编队控制算法能够保证多机器人系统形成稳定的期望编队.

英文摘要：

To eliminate the influence of limited communication on formation control for multi-robot system,a distributed formation control algorithm based on communication delay was proposed by consensus theory.A formation graph was employed to describe the network topology of robots,and some related matrixes were introduced to represent the formation graph form a desired formation condition by matrix control theories.According to Lyapunov stability theorem,delay-independent and delay-dependent stable conditions were obtained respectively in the form of linear matrix inequality（LMI）.The multi-robot system was verified to converge to the desired geometry formation and velocity asymptotically by the proposed algorithm.Simulations of multi-robot formation were performed to verify the effectiveness of formation control strategy and the correctness of conclusions.The results show that the multi-robot system can form the desired formation by the proposed algorithm under stable condition.