Robot preset formation control method

Abstract

The invention provides a robot preset formation control method. The method comprises the steps: (1) building a motion-dynamics model and a virtual navigation-following motion model, and obtaining a relative pose error state equation of a following robot and a virtual navigator; (2) defining a tracking error e (t), designing a performance index function lambda (t) according to a communication range, and designing a preset error performance function S (epsilon) as a hyperbolic tangent function; (3) designing a sliding mode control rate through deformation of S (epsilon); (4) designing a fuzzy control system; (5) adjusting lambda (0) to enable an inverse function of S (epsilon) not to be negative and not to generate singularity, and enabling a convergence rate of the control error to depend on a value of eta in the control rate; and (6) giving relative poses of virtual pilots and the followers so that distances and angles between the following robots and the virtual pilots are kept to complete formation. According to the method, an output range is obtained, the preset error performance function is designed, the sliding mode controller is designed too, a sliding mode control gain is adaptively adjusted by using a fuzzy logic theory, a switching item is converted into a continuous fuzzy quantity, and buffeting is reduced.

Description

technical field [0001] The invention belongs to the technical field of robots, and in particular relates to a robot preset formation control method. Background technique [0002] In recent years, multi-mobile robot formation control technology has been widely used in remote operations, assisting military operations, post-earthquake search and rescue, clearing dangerous areas, agricultural robots, automated factories, etc., and has become a research hotspot. With the introduction of various formation control algorithms, the research on formation is not limited to the task of completing the formation, and various limiting factors such as communication limitations, input limitations, and external interference have been taken into consideration, especially in practical applications. , factors that must be considered include communication limitations, collisions between robots, self-safety distance, etc., not only to ensure a stable formation, but also to ensure the transient per...

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Problems solved by technology

Based on the many advantages of preset performance control, the Chinese patent "A Design Method for Unmanned Boat Output Feedback Formation Control with Preset Performance" (application date: 2019.6.26; application number: 201910560206.2; publication date: 2019.10.22; patent No.: CN 110362075A) discloses a design method of unmanned boat output feedback formation control with preset performance, through designing distance error and azimuth error performance functions, filtering virtual controller, dynamic surface technology and RBF neural network estimator to Completing the formation can effectively guarantee the transient performance, but the control algorithm does not consider the influence of external disturbances, and the chain estimation of multiple controllers will cause error superposition, and the control accuracy is low

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