Cooperative control method and system for escort task based on obstacle environment and bounded input

A technology of cooperative control and control method, applied in general control system, control/regulation system, adaptive control, etc., can solve the problems that cannot be practically applied, does not consider input boundedness, large torque, etc., and achieves easy implementation, compensation Effect of disturbance, continuous control signal

Active Publication Date: 2020-05-15
济南市中未来产业发展有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the above method is mainly applied to a single controlled object, such as a robotic arm or a quadrotor aircraft, and the above method has not been applied to multiple controlled objects.
In addition, none of the above methods considers the issue of bounded input, and thinks that the actua

Method used

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  • Cooperative control method and system for escort task based on obstacle environment and bounded input
  • Cooperative control method and system for escort task based on obstacle environment and bounded input
  • Cooperative control method and system for escort task based on obstacle environment and bounded input

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Embodiment 1

[0048] In one or more embodiments, a collaborative control method for escort missions based on obstacle environment and bounded input is disclosed, refer to figure 1 ,include:

[0049] The physical model of the escort mission is described by the Doule-Lagrangian system;

[0050] The inner and outer loop control structure is adopted, and the outer loop adopts the behavior control method based on empty space to generate the desired speed and expected motion trajectory required by the physical model of the inner loop; the inner loop is based on the proportional derivative sliding mode of the improved adaptive radial basis function neural network The control method enables each physical model to track the desired speed and desired motion trajectory in the presence of disturbances and parameter uncertainties, achieving zero steady-state error and bounded input.

[0051] In this embodiment, in order to avoid obstacles and form a convoy formation, the empty space-based behavior (NSB...

Embodiment 2

[0191] In one or more embodiments, an escort task cooperative control system based on obstacle environment and bounded input is disclosed, including: a controller, the controller adopts an inner and outer loop control structure, and the outer loop adopts an empty space-based behavior The control method generates the desired speed and desired trajectory required by the physical model of the inner ring; the inner ring is based on the proportional derivative sliding mode control method of the improved adaptive radial basis function neural network, so that in the case of interference and parameter uncertainty , each physical model is capable of tracking desired velocity and desired motion trajectory, achieving zero steady-state error and bounded input.

[0192] For the specific implementation method of the above controller, refer to the method disclosed in the first embodiment.

Embodiment 3

[0194] In one or more embodiments, a terminal device is disclosed, which includes a processor and a computer-readable storage medium, the processor is used to implement instructions; the computer-readable storage medium is used to store multiple instructions, and the instructions are suitable for Because the processor loads and executes the escort task cooperative control method based on the obstacle environment and bounded input in the first embodiment.

[0195]In another or more embodiments, a computer-readable storage medium is disclosed, in which a plurality of instructions are stored, and the instructions are suitable for being loaded by a processor of a terminal device and executing the obstacle-based environment and Cooperative control method for escort missions with bounded input.

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Abstract

The invention discloses a cooperative control method and system for escort tasks based on obstacle environment and bounded input. The method comprises the steps of describing a physical model of a escort task by adopting a multi-Euler-Lagrange system; using an inner and outer loop control structure, an outer loop adopting a behavior control method based on empty space, and generating expected speed and expected motion trails required by an inner loop physical model; an inner ring being based on an improved proportional derivative sliding mode control method of an adaptive radial basis functionneural network, so that each physical model can track an expected speed and an expected motion trail in the presence of interference and uncertain parameters, and zero steady-state error and boundedinput are realized. The controller provided by the invention has the advantages of simplicity, no model and capability of providing continuous control signals, and the adaptive radial basis function neural network adopted in the design of the controller has strong learning ability and robustness, so that interference is well compensated, and zero steady-state error is finally realized.

Description

technical field [0001] The invention relates to the technical field of collaborative control of escort missions, in particular to a method and system for collaborative control of escort missions based on obstacle environments and bounded inputs. 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] The problem of coordinated control of Multi-Euler Lagrangian systems has attracted extensive attention in the past few decades. Mobile robots, underwater vehicles, surface vessels, spacecraft, robotic arms, etc. all belong to Eulerian Lagrangian systems. Due to measurement noise, modeling errors, external disturbances and modeling simplifications, and often unmodeled dynamics in real systems, these can severely degrade system performance and lead to control system instability. Furthermore, neglecting to deal with practical issues such as input satur...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 宋锐高嵩郑玉坤李贻斌
Owner 济南市中未来产业发展有限公司
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