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Distributed command filtering fuzzy control method for 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, and achieve the goal of reducing influence and eliminating filtering errors. Effect

Active Publication Date: 2022-06-17
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 for multi-robot system
  • Distributed command filtering fuzzy control method for multi-robot system
  • Distributed command filtering fuzzy control method for multi-robot system

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Embodiment Construction

[0126] The present invention is described in further detail below in conjunction with the accompanying drawings and specific embodiments:

[0127] like figure 1 As shown, the distributed command filtering fuzzy control method of the multi-robot system includes the following steps:

[0128] It is assumed that the multi-robot system has N follower robots and 1 leader robot, the node set of the follower robot is recorded as υ={1,...,N}, and the node of the leader robot is recorded as 0.

[0129] The communication topology relationship between N following robots is represented by a directed graph express.

[0130] Among them, the edge set

[0131] Define the adjacency matrix A=[a mn ]∈R N×N , a mn represents the weight of the edge, R N×N Indicates that the matrix dimension is N×N.

[0132] If there is a directed edge (m,n)∈ε, then node n is called the parent node of node m, and node m is called the child node of node n.

[0133] The set of neighbor nodes of node m is N ...

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Abstract

The invention discloses a distributed order filter fuzzy control method of a multi-robot system. The method includes the process of constructing command filter, adaptive update law based on fuzzy approximation, error compensation mechanism and distributed control law based on Nussbaum function gain. The method of the invention can not only avoid the calculation complexity problem caused by the traditional backstepping method, but also ensure that the consistent tracking error of each robot converges to the expected neighborhood when the control direction is unknown. In addition, the use of fuzzy approximation technology can overcome the influence of system uncertainties and further improve the robustness. Since the control law only uses the neighborhood information of each robot, the method of the present invention is completely distributed. Simulation results show the effectiveness of the method of the present invention.

Description

technical field [0001] The invention relates to a distributed command filtering fuzzy control method for a multi-robot system. Background technique [0002] Due to low power consumption, high reliability, and low communication burden, distributed control of multiple robotic systems has become an important research direction, and its consistent control has received extensive attention. [0003] Currently, there are multiple consensus algorithms for multi-robot systems, such as leaderless consensus control and leader-follower consensus control. Among them, in leaderless consensus control, all states of the closed-loop system converge to a common state value; in leader-follower consensus control, all states of the closed-loop system converge to the leader's state. Backstepping is often used to design consistent control of multiple robotic systems. [0004] However, for the traditional distributed backstepping approach, the state is taken as a virtual input to each subsystem, ...

Claims

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Application Information

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Patent Type & Authority Patents(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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