Default performance formation controller structure for multi-mobile robots and design method
A mobile robot with preset performance technology, applied in non-electric variable control, control/adjustment system, two-dimensional position/channel control, etc., to overcome the explosion of computational complexity, solve system uncertainty, and improve accuracy and speed Effect
Active Publication Date: 2018-10-12
NANJING UNIV OF POSTS & TELECOMM
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Aiming at the feature that the extended state observer does not depend on the precise mobile robot model, the present invention compensates the unknown dynamics in real time through the estimation of the extended state quantity, so that the designed time-varying formation controller has anti-disturbance; it can be estimated effectively by means of the tracking differentiator Derivatives of complex nonlinear functions; use preset performance functions to improve the convergence accuracy and speed of formation errors; can effectively deal with unknown dynamics in the system, simplify complex derivative operations, and precision control issues
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Embodiment 1
[0177] The state equation of the ith mobile robot system among the followers selected in this embodiment is:
[0178]
[0179] In the formula, (y i，1 ,y i，2 ) is the coordinates of mobile robot i, u i,1 , u i,2 is the control force, that is, the control quantity; f i,1,1 (x i,1,1 ,x i,1,2 )=x i,1,2 , f i,2,1 (x i,2,1 ,x i,2,2 )=x i,2,2 , m i is the mass of mobile robot i, which is 1kg, and is the damping coefficient, generally 1; and is the coefficient to control the transient response of mobile robot i, generally 9; the initial values of the four follower system states are:
[0180] Consider a multi-agent network composed of 4 followers and 1 leader, and at least one follower communicates with the leader. The communication topology is as follows figure 2 As shown, where 0 is the number of the leader, and 1, 2, 3, and 4 are the numbers of the four followers. Further, the Laplacian matrix can be obtained, and the Laplacian matrix is as f...
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The invention relates to a default performance formation controller structure for multi-mobile robots and a design method. N double-mobile robots containing unknown dynamic states are regarded as followers, the networked system formed by connecting the followers with a leader through a one-way topological graph is regarded as a controlled object, and a time-varying formation controller with default performance is designed by using the active-disturbance-rejection and inverse techniques, so that the following robots track the reference trajectory of the leader and build and keep a desired time-varying rank, and the tracking error is within a preset range. The default performance formation controller structure has the advantages that according to the characteristic that an extended state observer is independent of a precise mobile robot model, the unknown dynamic states are compensated through estimation of the extended state amount in real time, so that the designed time-varying formation controller has a disturbance rejection capacity; the derivative of a complicated nonlinear function is effectively estimated by means of a tracking differentiator; the convergence precision and rate of a formation error are improved by using a default performance function; the problems about the unknown dynamic states, complicated derivation reduction and precision control in a system can be effectively solved.
Description
technical field [0001] The invention relates to a multi-mobile robot preset performance formation controller structure and design method, belonging to the technical field of industrial process control. Background technique [0002] Since the 20th century, with the maturity and development of automation technology, the multi-mobile robot system has appeared in many aspects such as production and scientific research as a more complex and advanced electromechanical system. In-depth research was carried out. Compared with a single mobile robot system, multiple mobile robots can complete more complex tasks and have greater load capacity. However, these advantages of multi-mobile robot systems come at a price, including more complex control problems. A certain mobile robot in the coordination system is designated as a "leader", and the remaining mobile robots that follow the leader's predetermined formation are called "followers" group. In 2017, He Lei et al. proposed an adapti...
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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0276
Inventor 杨杨谈杰岳东徐闯孟青缪松涛许慧文
Owner NANJING UNIV OF POSTS & TELECOMM
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