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Distributed command filtering fuzzy control method of multi-robot system

A multi-robot, fuzzy control technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., can solve problems such as consistent tracking control of uncertain multi-robot systems

Active Publication Date: 2019-09-20
QINGDAO UNIV
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Problems solved by technology

[0008] The purpose of the present invention is to propose a distributed command filter fuzzy control method for a multi-robot system to solve the problem of consistent tracking control of an uncertain multi-robot system with unknown control direction

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  • Distributed command filtering fuzzy control method of multi-robot system
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  • Distributed command filtering fuzzy control method of multi-robot system

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Embodiment Construction

[0125]Below in conjunction with accompanying drawing and specific embodiment the present invention is described in further detail:

[0126] Such as figure 1 As shown, the distributed command filtering fuzzy control method of the multi-robot system includes the following steps:

[0127] It is assumed that the multi-robot system has N follower robots and 1 leader robot, the follower robot node set is denoted as υ={1,...,N}, and the leader robot node is denoted as 0.

[0128] The communication topology relationship between N follower robots is defined by a directed graph express.

[0129] Among them, the edge set

[0130] Define the adjacency matrix A=[a mn ]∈R N×N , a mn Indicates the weight of the edge, R N×N Indicates that the matrix dimension is N×N dimensions.

[0131] If there is a directed edge (m,n)∈ε, node n is called the parent node of node m, and node m is called the child node of node n.

[0132] The set of neighbor nodes of node m is N m ={n|(n,m)∈ε}, if...

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Abstract

The invention discloses a distributed command filtering fuzzy control method of a multi-robot system. The method comprises establishment of a command filter, a fuzzy approximation based adaptive update law, an error compensation mechanism and a Nussbaum function gain based distributed control law. The method can avoid computing complexity caused by a traditional backstepping method and ensure that a consistency tracking error of each robot is converged to the expected neighborhood under the condition of unknown control direction. In addition, the fuzzy approximation technology can overcome influence of uncertain factors on the system, and the robustness of further improved. Only neighborhood information of each robot is used in the control law, so that the method is completely distributed. The method is valid according to simulation results.

Description

technical field [0001] The invention relates to a distributed order filter fuzzy control method of a multi-robot system. Background technique [0002] Due to low power consumption, high reliability, and low communication burden, distributed control of multiple robot systems has become an important research direction, and its consistent control has received extensive attention. [0003] Currently, there are various consensus algorithms for multi-robot systems, for example, leaderless consensus control and leader-follower consensus control. Among them, in the consensus control without a leader, all the states of the closed-loop system converge to a common state value; in the consensus control of the leader and followers, all the states of the closed-loop system converge to the state of the leader. Backstepping is often used to design consistent control of multiple robotic systems. [0004] However, for traditional distributed backstepping, the state is taken as the virtual i...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 赵林于金鹏刘振孟凡丰
Owner QINGDAO UNIV
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