Robust simultaneous stabilization method and system for a multi-robot system

Abstract

The invention discloses a robust simultaneous stabilization method and system for a multi-robot system, and relates to the technical field of robot robust stabilization control. The method establishes the dynamic equation of the n-degree-of-freedom robot; analyzes the energy structure of the robot, selects the Hamilton function, and equates the dynamic equation of the n-degree-of-freedom robot to the Hamilton model of the robot; The Hamilton model of multiple robots is extended to a higher-dimensional Hamilton model; a multi-robot robust controller is designed on the basis of the above transformation; and then the Lyapunov function is selected to verify the accuracy of the multi-robot robust controller. Compared with the traditional control strategy, the solution of the present invention realizes the simultaneous stabilization of multiple robots by designing a controller, saves the cost of the multi-robot system, improves the operating efficiency and the robustness and stability of the system, and provides Follow-up research provides technical support and reference.

Description

technical field [0001] Embodiments of the present invention relate to the technical field of robot robust stabilization control, and specifically relate to a method and system for robust simultaneous stabilization of a multi-robot system. Background technique [0002] In recent years, with the country's emphasis on intelligent manufacturing, robot-related technologies have also received widespread attention. The robot system is a kind of complex strong nonlinear control system. In the actual system control design, there are various factors affecting the performance of the robot system. The stability of the robot system is one of the factors that need to be considered. In the process of industrial production, with the continuous changes in production volume and working environment, some tasks cannot be undertaken by a single robot alone, and need to be completed through collaborative operations between multiple robots. The multi-robot system has good data redundancy and can ...

AI Technical Summary

Problems solved by technology

In the existing technology, the stabilization control design is mainly aimed at a single robot. In a multi-robot system, if a controller is designed for each robot, there will be problems such as high cost, waste of resources, and low operating efficiency.

In addition, the working space of the robot is often in a harsh environment, and there are always various interference factors affecting the performance of the robot, so the problem of simultaneous stabilization of multiple robots needs to be solved urgently

[0004] Based on the above problems, the present invention provides a method and system for robust simultaneous stabilization of a multi-robot system. From an energy point of view, a nonlinear model of the robot system is established based on the Hamilton model to solve the problem of simultaneous stabilization of a multi-robot system.

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