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Adaptive tracking control method of multi-mobile-robot system under condition of attitude unknown

A mobile robot and adaptive tracking technology, applied in the field of intelligent robots, can solve problems such as chattering and inapplicability

Active Publication Date: 2015-09-02
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0005] The adaptive tracking control of multi-mobile robot system under the condition of unknown attitude is in the exploratory research stage at home and abroad. For the problem of unknown attitude, many achievements are made by using sliding mode control to gradually converge the system error on the sliding mode surface, but Sliding mode control is often prone to chattering, and many results are mainly aimed at the control system of the second-order integrator system, which makes the results unapplicable in the actual mobile robot system

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  • Adaptive tracking control method of multi-mobile-robot system under condition of attitude unknown
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  • Adaptive tracking control method of multi-mobile-robot system under condition of attitude unknown

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Embodiment Construction

[0041] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0042] The invention proposes an observer-based self-adaptive control method aiming at the tracking control problem of the multi-mobile robot system under the condition of unknown posture, so that the follower in the multi-mobile robot system can realize the tracking control of the leader.

[0043] Step 1: Modeling a single mobile robot

[0044] Such as figure 1 As shown, arbitrarily select a point in the plane space, set this point as the origin O, establish a global coordinate system at this point and select two mutually orthogonal directions as the x-axis and y-axis. For the mapping of the local coordinate system to the global coordinate system, point C, the axis point of the robot, is selected as the origin of the local coordinate axis. In general, point C is considered to be the center of gravity of the robot. In the local coordinate system, use {x ...

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Abstract

The invention discloses an adaptive tracking control method of a multi-mobile-robot system under the condition of attitude unknown. The method includes the following steps of establishing a model for each mobile robot in the multi-mobile-robot system; establishing an error model (as shown in the description) with non-linear disturbance of a follower f and a navigator r, wherein in the multi-mobile-robot system, each mobile robot obtains the information of other mobile robots to carry out non-linear disturbance assessment to obtain the non-linear disturbance estimate value of the mobile robot; establishing an adaptive law (as shown in the description) of non-linear disturbance coefficients; establishing a second-order observer for the trigonometric function of the error angle of the follower and the navigator; and establishing an adaptive control law for the follower based on the observer through the combination of the observer and the adaptive law to perform tracking control of the follower and to make the follower realize the tracking control of the navigator.

Description

technical field [0001] The invention belongs to the technical field of intelligent robots, and in particular relates to an adaptive tracking control design method of a multi-mobile robot system under the condition of unknown postures. Background technique [0002] In recent years, the tracking control and application of multi-mobile robot system has received more and more attention, and has gradually become a focus of complexity science research. Among them, each mobile robot only uses local information to interact, and combines the advantages of distributed resources with communication and other means to achieve overall planning and resolve local conflicts, so as to achieve the overall expected goal. The mobile robot system is a complex intelligent system that integrates many functions such as environment perception, dynamic planning and decision-making, behavior control and execution. It brings together the research results of many cutting-edge disciplines such as sensor ...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/0295
Inventor 方浩陈杰任伟刘雨晨尉越王雪源杨庆凯黄捷邵光远卢少磊李俨商成思
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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