A Tracking Control Method for Multiple Moving Objects Using Disturbance Estimator

Abstract

The invention discloses a multi-moving body tracking control method using an interference estimator, which belongs to the field of motion control, in particular a method for maintaining consistent motion of multiple moving objects through a consistency control algorithm. First set up the communication network of each moving body to ensure that each moving body can directly or indirectly obtain the movement state of the leading moving body, then the leading moving body sends a signal, and each moving body receives the moving state signal of the moving body associated with it Finally, analyze and calculate, and control the motion state of itself according to the calculation results, so as to achieve the purpose of the invention. Therefore, it has the effects of strong anti-interference ability, small calculation amount and strong real-time performance in the process of controlling multiple moving bodies to maintain motion consistency.

Description

technical field [0001] The invention belongs to the field of motion control, and in particular maintains robust and consistent states of multiple moving objects through a control algorithm based on an interference estimator. Background technique [0002] For multiple moving bodies, "consistent" means that multiple moving bodies form some kind of synchronization or matching, such as consistent speed or position, and achieve a certain state with the same pace. The distributed "consistency algorithm" of the moving body refers to an executable scheme obtained by collecting the information of its adjacent moving bodies and adding its own information, so as to achieve the consistency of the moving states of multiple moving bodies. [0003] However, various disturbances are inevitable during the movement of the moving body, and these disturbances cannot be determined and estimated. The external disturbance of the moving body mainly comes from the influence of the environment, such...

AI Technical Summary

Problems solved by technology

Among them, the first two have good robustness effects, but they are mainly aimed at linear systems, and the setting of indicators and the selection of weight functions are more complicated; sliding mode control is a special switching control that can be used in nonlinear systems It has a good robust control effect, but the output control signal has jitter, which is very detrimental to the performance of the system.

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