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Self-adaptive event triggering-based wheeled robot constant-speed linear formation control method

A wheeled robot, event-triggered technology, applied in two-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control and other directions, can solve the problems of formation paralysis, high communication cost, and unsuitable application.

Active Publication Date: 2019-09-20
TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
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  • Summary
  • Abstract
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  • Application Information

AI Technical Summary

Problems solved by technology

If a centralized control method is adopted, when there is a problem with the core robot, the entire formation will be paralyzed
In addition, the communication cost of centralized control is too high, which is not suitable for application in actual scenarios

Method used

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  • Self-adaptive event triggering-based wheeled robot constant-speed linear formation control method
  • Self-adaptive event triggering-based wheeled robot constant-speed linear formation control method
  • Self-adaptive event triggering-based wheeled robot constant-speed linear formation control method

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Embodiment 1

[0067] Such as figure 1 As shown, this embodiment is a method for controlling wheeled robots in a uniform linear formation based on adaptive event triggering. The wheeled robots include a leader robot and multiple follower robots. The method includes the following steps:

[0068] S1: Set the expected relative position of the follower robot and the leader robot in a uniform line formation, build an external signal observer based on the event trigger mechanism, and obtain the observation value of each follower robot relative to the leader robot;

[0069] S2: Calculate the position error between the follower robot and the leader robot, and combine the robot linearization model to obtain the standard position and standard control input of the follower robot;

[0070] S3: Based on the standard position and standard control input of the following robot, construct a fully distributed adaptive controller to obtain the real-time system control input of the following robot.

[0071] Th...

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Abstract

The invention relates to a self-adaptive event triggering-based wheeled robot constant-speed linear formation control method. According to the method, wheeled robots comprise a leader robot and a plurality of follower robots. The method comprises the following steps that: 1) the expected relative positions of the follower robots and the leader robot during constant-speed linear formation are set, an event triggering mechanism-based external signal observer is constructed, and the observation values of each follower robot relative to the leader robot are acquired; 2) the position errors of the follower robots and the leader robot are calculated, and the standard positions and standard control input of the follower robots are obtained on the basis of a robot linearization model; and 3) a fully distributed self-adaptive controller is constructed on the basis of the standard positions and standard control input of the follower robots, and the real-time system control input of the follower robots is obtained. Compared with the prior art, the method has the advantages of high accuracy, high reliability, saving-energy performance and high stability.

Description

technical field [0001] The invention relates to a fully distributed cooperative control method of multi-agents based on adaptive event triggering, in particular to a uniform-velocity linear formation control method of wheeled robots based on adaptive event triggering. Background technique [0002] With the development of multi-agent technology, the industry has higher and higher requirements for distributed control based on event triggering. Because in some complex environments, a single multi-agent cannot obtain the global information of the entire multi-agent system, and at the same time multi-agents cannot achieve continuous communication due to limited energy and complex environments. Therefore, in recent years, the research on event-triggered fully distributed cooperative control of multi-agents has attracted extensive attention from scholars at home and abroad. [0003] Formation control of wheeled robots is a subdivision of multi-agent collaborative control. The uni...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0276Y02P90/02
Inventor 张皓王祝萍宋首锐
Owner TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
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