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.
CN110262484AActive Publication Date: 2019-09-20TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
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Patent Information

Authority / Receiving Office
CN ยท China
Current Assignee / Owner
TONGJI ARTIFICIAL INTELLIGENCE RES INST SUZHOU CO LTD
Publication Date
2019-09-20

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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.
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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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