Collaborative control method and system with obstacle avoidance and navigation tasks for multi-Euler-Lagrange system

Abstract

The invention discloses a collaborative control method and system with obstacle avoidance and navigation tasks for a multi-Euler-Lagrange system. In the control method, the multi-Euler-Lagrange systemis adopted to describe a physical model of the navigation task; a controller adopts an inner and outer loop control structure, the outer loop adopts an empty space behavior control framework considering obstacles, and an expected speed and an expected motion trail required by an inner loop physical model are generated; an adaptive proportional differential sliding mode control method is applied to an inner loop, so that each physical model tracks the expected speed and the expected motion trail. The control method and system have the beneficial effect that a hierarchical control structure with robustness is established in the presence of model uncertainty, interference and obstacles. An empty space behavior controller is provided in the outer loop to avoid obstacles and protect and deliver a target; meanwhile, the speed required by the inner loop is generated. An adaptive proportional differential-sliding mode control law is adopted in the inner loop to track the required speed and ensure fast convergence and robustness.

Description

technical field [0001] The present invention relates to the technical field of cooperative control in an environment with obstacles, and in particular to a method and system for cooperative control of a multi-Euler-Lagrangian system with an obstacle avoidance escort task. Background technique [0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art. [0003] In recent years, the control of multi-robot systems has attracted considerable attention because these systems can overcome the limitations of using only a single robot. Many scholars focus on the study of coordinated control of multi-agents, nonlinear dynamics with uncertainty, nonholonomic mobile robots, and multi-mechanical systems in general. More and more studies have found that it is unacceptable in reality to model some practical applications using only single-integral or double-integral dynamics while ignoring nonli...

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Problems solved by technology

It is proposed to apply proportional-derivative control (PD) to replace the equivalent part of sliding mode control (SMC), and the proposed control scheme does not require an accurate dynamic model of the manipulator, which means that the proposed scheme is model-independent, although The control scheme exhibits reasonably good performance, but switching between proportional-derivative (PD) and sliding-mode control (SMC) is indeed an issue that requires careful consideration in practice

The prior art proposes an approach based on proportional-derivative controller (PD) and sliding mode controller (SMC) for linear robotic systems, and assumes that the gain of sliding mode control (SMC) is larger than the upper limit of the dynamical system, however, In most cases, this gain will be overestimated because it is difficult to obtain an undefined upper bound on the dynamics system

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