中文摘要：

研究了二阶积分器描述的多机器人主—从行星式编队控制问题,提出了将多机器人编队分解为每个机器人对各自具有时变速度的虚拟机器人的跟踪控制,使得每个机器人相对于虚拟机器人的位置与速度跟踪误差收敛为零且彼此不相碰撞,此时编队系统收敛到理想队形.在统一的算法框架下,分别实现了跟随者以领航者为中心的公转运动编队（revolution formation,RF）模式和跟随者与领航者保持期望距离、期望速度的编队（desiredformation,DF）模式.公转运动编队（RF）模式适用于异构多机器人系统的环境探索任务;保持期望距离、期望速度的编队（DF）模式适用于自主水下机器人（AUV）、无人机（UAV）等合作与协调任务.应用李亚普诺夫稳定性理论对控制算法的稳定性进行了分析,并通过计算机仿真验证了该方法的有效性.

英文摘要：

The leader-follower planetary formation control problem for multiple robots with double-integrator is studied,and an approach is proposed to transform the multi-robot formation control method into tracking control problem of desired virtual robot with varying velocity for each robot,and then the position and velocity tracking errors between each robot and its virtual robot converge to zero without any collision,while the formation system converges to the desired formation.Under the unified algorithm framework,two kinds of formation modes are realized respectively,including the followers moving around the leader formation（revolution Formation,RF） mode and the followers maintaining desired distance and velocity with the leader formation（desired formation,DF） mode.The RF mode is applied to the exploration mission for heterogeneous multi-robot system,and the DF mode is applied to the cooperation and coordination tasks for AUVs（autonomous underwater vehicle） and UAVs（unmanned aerial vehicle）.The stability of the control algorithm is analyzed through Lyapunov stability theory,and the effectiveness of the proposed method is demonstrated by computer simulations.