SUMMARYThis paper proposes a fully distributed continuous region-reaching controller for multi-robot systems which can effectively eliminate the chattering issues and the negative effects caused by discontinuities. The adaptive control gain technique is employed to solve the distributed region-reaching control problem. By performing Lyapunov function-based stability analysis, it is shown that all the robots can move cohesively within the desired region under the proposed distributed control algorithm. In addition, collision avoidance and velocity matching within the moving region can be guaranteed under properly designed control gains. Simulation examples are given to verify the capabilities of the proposed control method.

中文翻译：

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多机器人系统的具有碰撞避免的完全分布式区域到达控制

摘要本文提出了一种用于多机器人系统的完全分布式连续区域到达控制器，可以有效地消除抖动问题和不连续性带来的负面影响。自适应控制增益技术用于解决分布式区域到达控制问题。通过执行基于 Lyapunov 函数的稳定性分析，表明在所提出的分布式控制算法下，所有机器人都可以在所需区域内内聚地移动。此外，在适当设计的控制增益下，可以保证运动区域内的碰撞避免和速度匹配。给出了仿真例子来验证所提出的控制方法的能力。