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A method for finite-time hierarchical control of multi-robot systems

A multi-robot, time-limited technology applied in the industrial field to achieve the effect of reducing control costs

Active Publication Date: 2022-06-24
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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  • A method for finite-time hierarchical control of multi-robot systems
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  • A method for finite-time hierarchical control of multi-robot systems

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Embodiment Construction

[0020] In order to make the objectives, technical solutions and advantages of the present invention clearer, the embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0021] Please refer to figure 1 , the present invention provides a finite-time hierarchical control method for a multi-robot system, and the limited-time hierarchical control method 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 leading robot in the multi-robot system in a finite time, and the estimated value is sent to the control layer controller to construct the error function. ;

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

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Abstract

The invention discloses a limited-time hierarchical control method of a multi-robot system, which solves the problems of long convergence time and poor convergence effect of progressive convergence control in the current control system. The present invention considers a layered control method, which mainly uses the estimation layer estimator to estimate the position and speed information of the leader robot, and the control layer controls the entire multi-robot system to track the leader robot within a limited time after receiving the estimated information. , so as to complete the target task cooperatively; the invention is applicable to the finite-time tracking control of multi-robots in Euler-Lagrangian systems.

Description

technical field [0001] The invention relates to the industrial field, in particular to a method for limited-time hierarchical 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, and sensor network configuration. They are the primary choice for large-scale networked control systems. The multi-robot coordination work style can effectively improve the productivity and enhance the versatility to realize complex tasks. It can be applied to the collaborative control of multiple manipulators in the field of industrial production, for example, controlling multiple manipulators to track the movements of the leading manipulators in a limited time while performing welding or grabbing work, etc. [0003] In the research of multi-robot distributed cooperative control, although the tr...

Claims

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Application Information

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Patent Type & Authority Patents(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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