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Finite time hierarchical control method for multi-robot system

A multi-robot, time-limited technology for industrial applications to reduce control costs

Active Publication Date: 2021-09-07
CHINA UNIV OF GEOSCIENCES (WUHAN)
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Problems solved by technology

[0005] In order to solve the situation where a multi-robot system needs to track the action of a certain leader robot in a limited time in the existing industrial automation production field, and cooperate to move together, the present invention proposes a finite-time layered tracking based on the Eulerian Lagrangian system control method

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  • Finite time hierarchical control method for multi-robot system
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Embodiment Construction

[0020] 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.

[0021] Please refer to figure 1 , the present invention provides a method for finite-time layered control of a multi-robot system. The method for finite-time layered control proposed by the present invention includes an estimation layer controller and a control layer controller;

[0022] The estimation layer controller includes a position estimator and a velocity estimator. Based on the theory of finite time tracking control, the corresponding estimator is designed to estimate the position and velocity of the leader robot in the multi-robot system within a limited time, and send the estimated value to the control layer controller to construct the error function ;

[0023] The control layer controller includes a sliding mode controller and a general con...

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Abstract

The invention discloses a finite time hierarchical control method for a multi-robot system, and solves the problems of long convergence time and poor convergence effect of progressive convergence control in a current control system. A hierarchical control method is considered, the position and speed information of a leader robot is mainly estimated through an estimator of an estimation layer, and a control layer controls the whole multi-robot system to track a leader within limited time after receiving the estimation information so as to cooperatively complete a target task; and the multi-robot finite time tracking control method is suitable for multi-robot finite time tracking control of an Euler Lagrange system.

Description

technical field [0001] The invention relates to the industrial field, in particular to a method for limited-time layered control of a multi-robot system. Background technique [0002] At this stage, multi-agent robot systems are of great significance in practical applications. In recent years, they have been widely used in formation systems, intelligent transportation systems, sensor network configuration and other fields, and are the first choice for large-scale networked control systems. Multi-robot coordinated work can effectively improve productivity and enhance the versatility to achieve complex tasks. It can be applied to the collaborative control work of multiple robotic arms in the field of industrial production, for example: controlling multiple robotic arms to track the movement of the leading robotic arm within a limited time while performing welding or grasping work, etc. [0003] In the study of multi-robot distributed cooperative control, although the traditio...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/418
CPCG05B19/41885G05B2219/32339Y02P90/02
Inventor 许坤婷张秋月葛明峰丁腾飞梁昌铎黄凯伦董玖旺苏鹏
Owner CHINA UNIV OF GEOSCIENCES (WUHAN)
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