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Disturbance-observer-based multi-mobile-robot formation robust control method

A technology of mobile robots and disturbance observers, which can be used in adaptive control, general control systems, control/regulation systems, etc., and can solve the problems of less research on system dynamics

Active Publication Date: 2018-10-02
HUANGSHAN UNIV
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Problems solved by technology

[0003] At present, the formation control methods of mobile robots can be mainly divided into master-slave structure method, behavior control method, and virtual structure method. There are relatively few studies on the system dynamics level.
In addition, in the formation control process of mobile robots, there are inevitably the influence of uncertain factors such as system parameter perturbation, load change, unknown ground friction force and external disturbance. How to effectively eliminate the adverse effects of these uncertain factors is more important Problems to be Solved Urgently in Formation Control of Mobile Robots

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Embodiment Construction

[0083] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0084] Such as figure 1 As shown, a robust control method for multi-mobile robot formation based on disturbance observer, including the following steps:

[0085] (1) Establish a multi-mobile robot formation control system model considering the influence of uncertain factors including model parameter perturbation and external disturbance. The specific process is as follows:

[0086] (1.1), the moment required for the forward and rotational motion of the mobile robot is provided by the two drive wheels installed on the same shaft, and the front wheel only plays a supporting role. The kinematic equation of the mobile robot can be described as:

[0087]

[0088] In formula (1), x, y and θ are the coordinates and orientation angle of the mobile robot in the global coordinate system, respectively, and the orientation angle is set to be positive in the cou...

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Abstract

The invention discloses a disturbance-observer-based multi-mobile-robot formation robust control method. A multi-mobile-robot formation control system model under the condition of considering uncertainty factor influences like the model parameter disturbance and external disturbance is established; on the basis of a dynamic formation error model, an auxiliary speed controller stabilizing a formation error is designed for a following robot; and the output of the auxiliary speed controller is used as a speed given signal of a dynamic model of the following robot and an adaptive sliding mode controller based on a disturbance observer is designed at the dynamic level. With the control method disclosed by the invention, the adverse influence of the sum disturbance in the multi-mobile-robot formation system can be eliminated effectively; the response speed of the formation system is increased; and the system stability and robustness are improved.

Description

technical field [0001] The invention relates to the field of robot control methods, in particular to a multi-mobile robot formation robust control method based on an interference observer. Background technique [0002] Compared with a single robot, multi-robot systems have many potential advantages, including strong flexibility, adaptability, and robustness. Therefore, the research on multi-robot formation control has gradually become an important research field of mobile robots. Formation control is to control a group of robots to form a formation according to the desired geometric shape and maintain the formation during the movement according to the tasks to be completed by the formation. [0003] At present, the formation control methods of mobile robots can be mainly divided into master-slave structure method, behavior control method, and virtual structure method. There are relatively few studies on the system dynamics level. In addition, in the formation control proce...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 郭一军孙剑赵年顺黄辉
Owner HUANGSHAN UNIV
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