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Multi-mobile-robot formation adaptive fault-tolerant control method with preset performance

A mobile robot, fault-tolerant control technology, applied in the direction of non-electric variable control, two-dimensional position/channel control, control/adjustment system, etc., can solve the problem of unstable formation control of mobile robots, achieve reliable and stable formation control, eliminate adverse effects

Active Publication Date: 2021-11-26
HUANGSHAN UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to provide a multi-mobile robot formation adaptive fault-tolerant control method with preset performance to solve the problem of unstable control of mobile robot formation in the prior art question

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  • Multi-mobile-robot formation adaptive fault-tolerant control method with preset performance
  • Multi-mobile-robot formation adaptive fault-tolerant control method with preset performance
  • Multi-mobile-robot formation adaptive fault-tolerant control method with preset performance

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Embodiment

[0180] This embodiment provides the comparison results of two different control methods: multi-mobile robot formation adaptive fault-tolerant control method (C1) with preset performance, u vi , u ωi The design is as formula (17) and formula (18), and the control torque design is as formula (25); the multi-mobile robot formation adaptive fault-tolerant control method without preset performance (C2), u vi , u ωi designed as u vi =-k 7i e xi -Γ 1i , u ωi =-k 8i e yi -Γ 2i , k 7i >0,k 8i >0, the adaptive fault-tolerant torque control law is designed as formula (25). There are three mobile robots in this embodiment: Leader Robot, Follower 1, and Follower 2.

[0181] Linear speed v of Leader Robot 0 set to v 0 =0.5m / s, angular velocity ω 0 set to ω 0 =0.1rad / s, the initial pose coordinates are set to q 0 =[0,0,0] T . The physical parameters of Follower 1 are set to m 1 =10.5kg, I 1 =3.11kg·m 2 , r 1 = 0.25m, b 1 =0.4m,L 1 =1.6m; the initial pose coordinates ...

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Abstract

The invention discloses a multi-mobile-robot formation adaptive fault-tolerant control method with preset performance. The method comprises the following specific steps: establishing a multi-mobile-robot formation system mathematical model considering execution mechanism faults; designing a preset performance multi-mobile robot formation speed control law; designing a formation mobile robot self-adaptive fault-tolerant torque control law; and performing stability analysis of the multi-mobile-robot formation adaptive fault-tolerant control method with preset performance. According to the multi-mobile robot formation control method, the preset performance control of the formation error can be realized, the adverse influence of the system execution mechanism fault and the system external disturbance uncertainty on the formation control can be effectively eliminated, and the stable and reliable formation control is realized.

Description

technical field [0001] The invention relates to the field of robot control methods, in particular to a multi-mobile robot formation self-adaptive fault-tolerant control method with preset performance. Background technique [0002] With the complexity of the working environment of mobile robots and the more diversified work tasks, this makes a single mobile robot no longer suitable for some special task requirements. Compared with a single robot, a multi-mobile robot system has many advantages. [0003] Actuator failures, uncertain dynamics, and external disturbances usually have a greater impact on the transient performance and steady-state performance of the mobile robot formation system. In severe cases, the formation system may be unstable and even cause collisions between robots. occur. However, the current research on the formation control of multi-mobile robots is mainly devoted to improving the steady-state control accuracy of the robot formation system, and rarely c...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0221G05D1/0291G05D1/0219Y02P90/02
Inventor 郭一军
Owner HUANGSHAN UNIV
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