Self-adaptive cooperative control algorithm and system of multi-wheeled robot
A wheeled robot and collaborative control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve the problems of error growth, error model representation, and not considering robots
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[0046] The present invention will be further described below through specific embodiments with reference to the accompanying drawings. These embodiments are only used to illustrate the present invention and do not limit the protection scope of the present invention.
[0047] The present invention provides an adaptive cooperative control algorithm for a multi-wheeled robot, which includes the following steps:
[0048] Step 1: Establish a multi-wheeled robot system containing N wheeled robots and a nonlinear dynamic model of a single wheeled robot; figure 1 Shown is a schematic diagram of a single wheeled robot system in the present invention;
[0049] The nonlinear dynamic model is:
[0050]
[0051] among them, Respectively are the speed of the i-th wheeled robot in the x and y coordinate directions at time t; v i (t) is the speed of the i-th wheeled robot at time t; θ i (t) is the angle of the i-th wheeled robot at time t; And ω i (t) is the angular velocity of the i-th wheeled rob...
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