Unlock instant, AI-driven research and patent intelligence for your innovation.
Distributed finite time tracking control method for multi-robot system in view of interference and model uncertainty
What is Al technical title?
Al technical title is built by PatSnap Al team. It summarizes the technical point description of the patent document.
A multi-robot, limited-time technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of heavy communication burden and poor robustness of the multi-robot system
Active Publication Date: 2015-11-25
成都川哈工机器人及智能装备产业技术研究院有限公司
View PDF7 Cites 40 Cited by
Summary
Abstract
Description
Claims
Application Information
AI Technical Summary
This helps you quickly interpret patents by identifying the three key elements:
Problems solved by technology
Method used
Benefits of technology
Problems solved by technology
[0007] The present invention aims to solve the problem of poor robustness of the control method of the existing multi-robot control system and the problem of excessive overall communication burden of the multi-robot system
Method used
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more
Image
Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
Click on the blue label to locate the original text in one second.
Reading with bidirectional positioning of images and text.
Smart Image
Examples
Experimental program
Comparison scheme
Effect test
specific Embodiment approach 1
[0036] Distributed finite-time tracking control method for multi-robot systems considering disturbance and model uncertainty,
[0037] Based on the following assumptions:
[0038] (1) The time-varying control input u of the pilot robot N+1 is unknown to all following robots, and its upper bound information Can be obtained by some following robots;
[0039] (2) Generalized interference is time-varying and unknown, satisfying in is an unknown, bounded, normal constant; define d ‾ = m a x ( d ‾ 1 , ... , d ‾ N ) ;
[0041] A distributed finite-time tracking control method for multi-robot syst...
specific Embodiment approach 2
[0054] The specific implementation steps of step 2 of the present embodiment are as follows:
[0055] For a multi-robot system, including N follower robots, To follow the robot assembly, is the set of pilot robots, and the set of multi-robot systems is ν=ν L ∪ν F ;
[0056] The communication topology between robots is represented by a directed graph G=(ν,ε), where ν is the set of all nodes, is the set of all edges; for robot i and robot j, edge (ν i ,ν j )∈ε means that robot j can receive information from robot i, but the opposite is not necessarily true; node ν i The neighbors of are defined as satisfying (ν j ,ν i ) ∈ ε relation of all robots j set, denoted as N i ={ν j :(ν j ,ν i )∈ε}; j is a serial number different from robot i;
[0057] The weighted adjacency matrix A of the directed graph = [a ij ] is defined as: if (v j ,v i )∈ε, then a ij = 1, otherwise a ij = 0; it is generally assumed that the node itself does not have connectivity, that is, a i...
specific Embodiment approach 3
[0068] The specific implementation steps of step 3 of the present embodiment are as follows:
[0069] Define the error function for following the robot and for:
[0070] e i F x ( t ) = Σ j F = 1 N a i F j F ( q i F - q j F ) + b i F ( q i F ...
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More
PUM
Login to View More
Abstract
The invention discloses a distributed finite time tracking control method for a multi-robotsystem in view of interference and model uncertainty, and relates to a control method for a multi-robotsystem. In order to solve the problems of poor robustness of the existing control method for the multi-robotcontrol system and heavy overall communication burden of the multi-robot system, the method comprises the steps of establishing a dynamical model FORMULA (shown in the specification) of a pilot robot and a dynamical model FORMULA (shown in the specification) of each following robot in the multi-robot system, and calculating a weighted adjacent matrix A and a Laplacian matrix in a directed graph theory of the multi-robot system; and then designing a distributed finite time tracking control law FORMULA (shown in the specification) of the multi-robot system, so that each following robot follows the pilot robot with a dynamic time change locus within finite time and finite time tracking control of the multi-robot system is completed. The method is applicable in the field of control of multi-robot systems.
Description
technical field [0001] The invention relates to a control method of a multi-robot system. Background technique [0002] 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. Using multiple robots to form a formation has many advantages, and it can complete tasks that are difficult for a single robot to complete. In the industrial field, replace humans to complete some operations in dangerous or harsh environments, such as handling, classification, rounding up, etc.; in the aviation field, use multi-space robots, alien detection robots to explore unknown planets, and maintain space stations. Reduce costs and improve system reliability and safety; in the medical field, multiple micro-robots enter the human body to conduct in-depth inspection and diagnosis of diseased parts. From the perspective of multi-robot system control framework, multi-robot form...
Claims
the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More
Application Information
Patent Timeline
Application Date:The date an application was filed.
Publication Date:The date a patent or application was officially published.
First Publication Date:The earliest publication date of a patent with the same application number.
Issue Date:Publication date of the patent grant document.
PCT Entry Date:The Entry date of PCT National Phase.
Estimated Expiry Date:The statutory expiry date of a patent right according to the Patent Law, and it is the longest term of protection that the patent right can achieve without the termination of the patent right due to other reasons(Term extension factor has been taken into account ).
Invalid Date:Actual expiry date is based on effective date or publication date of legal transaction data of invalid patent.
Login to View More 
Login to View More