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Multi-robot finite time synchronous control method based on membrane calculation

A multi-robot, limited-time technology, applied in the field of robotics research, which can solve problems such as limited-time synchronization

Active Publication Date: 2021-02-19
WUHAN UNIV OF SCI & TECH
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Problems solved by technology

[0011] Step 3: Design a membrane controller for a multi-robot system to solve the finite-time synchronization problem proposed in Step 2 with a new model of quantized coupling time-delay and adaptive coupling strength;

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  • Multi-robot finite time synchronous control method based on membrane calculation
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  • Multi-robot finite time synchronous control method based on membrane calculation

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Embodiment Construction

[0040] In order to make the purpose, technical solution and advantages of the present invention clearer, the embodiments of the present invention will be further described below in conjunction with the accompanying drawings.

[0041] Please refer to figure 1 , the present invention provides a multi-robot finite-time synchronous control method based on membrane computing, comprising the following steps:

[0042] Step 1: Establish a communication network between multi-robots, and describe the mutual communication between all robots in the multi-robot system;

[0043] The communication network is specifically in represents all robots υ i composed of collections, N is the number of robots in the system; represents a collection of channels, Represents the external coupling matrix; the elements in the channel set (υ i , υ j ) ∈ ε represents the robot υ i and robot υ j Correlation signals can be obtained between each other, assuming The robot in has M channels, and i...

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Abstract

The invention provides a multi-robot finite time synchronous control method based on membrane computing, which comprises the following steps of establishing a communication network among multiple robots, and describing mutual communication among all robots in a multi-robot system, considering time-varying time lag and quantization errors, performing dynamic modeling on the multi-robot system basedon the established communication network, and proposing a new model with time-varying quantization coupling time lag and adaptive coupling strength, designing a membrane controller of the multi-robotsystem so as to solve the finite time synchronization problem of the proposed new model with quantitative coupling time lag and adaptive coupling strength, adding the designed membrane controller into a multi-robot system with quantitative coupling time lag and self-adaptive coupling strength to obtain a closed-loop system, and in combination with the constructed closed-loop system, realizing self-adaptive finite time synchronization.

Description

technical field [0001] The invention relates to the technical field of robot research, in particular to a multi-robot finite-time synchronous control method based on membrane calculation. Background technique [0002] The research level and application level of robot technology reflect the development level of a country's industrial automation level, which has important strategic significance and has inspired a large number of researchers to engage in research work on robot system-related topics. In some practical application scenarios, multiple robots are required to synchronize to complete certain special tasks, such as formation control formation, cooperative handling, mine clearance, space detection, etc., from aerial unmanned aerial vehicles to ground unmanned vehicles, and then to Underwater autonomous submarines have shown their important application value. [0003] In a real multi-robot system, the original dynamic behavior, topological structure, coupling strength,...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/101Y02P90/02
Inventor 贺娟娟张凯葛明峰余飘瑶朱麒杨倩闵启浪
Owner WUHAN UNIV OF SCI & TECH
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