摘要
In this study, to treat complicated large-scale team formation design, a robust decentralized stochastic H infinity tracking control design is proposed to deal with the team formation tracking problem for a large-scale biped robot team system. Under the concept of virtual leader and the decentralized control, biped robots walking in a large-scale team formation are controlled to track their own paths with robust stochastic H infinity tracking performance. Thus, the robust stochastic H infinity large-scale biped robot team formation tracking control design can be transformed to independent Hamilton-Jacobi inequality (HJI)-constrained optimization problems. Besides, based on the tensor-product model transformation technique, the robust decentralized stochastic H infinity team formation tracking control design is converted into equivalent linear matrix inequalities-constrained optimization problems. Since the robust decentralized H infinity tracking control is employed, the magnitude of biped robot team can be easily increased to very large scale. Finally, a simulation example is given to validate the effectiveness of the proposed method.