Finite time robust cooperative tracking control method for multi-robot system
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A multi-robot tracking control technology, applied in adaptive control, general control system, control/regulation system, etc., can solve problems such as poor robustness and heavy communication burden of multi-robot systems
Active Publication Date: 2015-11-18
HARBIN INST OF TECH
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[0010] The present invention aims to solve the problem of poor robustness of the existing multi-robot c
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specific Embodiment approach 1
[0046] A limited-time robust cooperative tracking control method for a multi-robot system, comprising the following steps:
[0047] Step 1. Establish a multi-robot system with 1 leader robot and n follower robots. The leader robot is marked as 0, and the follower robot is marked as v L ={1,2,…n}; Neglecting external interference, following robot i∈v L The kinetic model of can be described by the following Euler-Lagrange equation:
[0048] M i ( q i ) q ·· i + C i ( q i , q · i ) q · i + g i ...
specific Embodiment approach 2
[0068] Step 4 of this embodiment specifically includes the following steps:
[0069] According to formula (1) and formula (2), we can get
[0070] M i ( q i ) z · 2 i + C i ( q i , q · i ) z 2 i + g i ( q i ) = τ i - M i ( q i ) ...
specific Embodiment approach 3
[0078] Step 2 of this embodiment specifically includes the following steps:
[0079] The communication topology between robots is represented by a directed graph G=(v,ε), v={0,1,2,…,n} is the set of all nodes, is the set of all edges; with nodes Indicates robot i * ,node Indicates that the robot j * , and i * ≠ j * ; In the directed graph G=(v,ε), each edge has two nodes side Indicates that the robot j * able to receive robot i * information; a directed path is defined as an edge set an ordered sequence of If at least one node has a directed path from the node to other nodes, the directed graph is said to have a directed spanning tree;
[0080] matrix A = ( a i * j * ) ∈ R n × ...
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Abstract
A finite time robust cooperative tracking control method for a multi-robot system relates to a control method for a multi-robot system, and solves the problems that a conventional control method for a multi-robot control system is poor in robustness and the overall communication burden of the multi-robot system is too heavy. The method includes the steps: establishing a dynamics model, shown in the description, of each follower robot in the multi-robot system, wherein the dynamics model can be linearized as defined in the description; defining variables qri, zli and z2i; combining a virtual controller [alpha]1i to obtain a formula shown in the description; and designing a distributed control law shown in the description and a linear parameter self-adaptive law shown in the description. In this way, each follower robot can follow, within the finite time, a leader robot that has a dynamic time-varying track, tracking errors are bounded, and then finite time tracking control over the multi-robot system is completed. The method is suitable for the control field of a multi-robot system.
Description
technical field [0001] The invention relates to a control method of a multi-robot system. Background technique [0002] With the continuous development of robot technology, the application fields and scope of robots are constantly expanding, and people have higher and higher requirements for robots. Therefore, they hope to develop robots with more complex functions, but the system structure of the robot itself is very complicated. If other more functions are added, then its system reliability and efficiency may be reduced. In addition, there are many tasks that cannot be completed by a single robot, and require the coordination and cooperation of multiple robots. [0003] With the development of computer technology and wireless communication technology, multi-robot coordination and cooperation has become possible and has been applied more and more. From the perspective of multi-robot system control framework, multi-robot formation control can be mainly divided into three m...
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