A networked multi-robot complex task cooperative control method with switching topology, a micro-control unit and a control system

Abstract

The application discloses a networked multi-robot complex task cooperative control method with a switching topology, a micro-control unit and a control system, and belongs to the technical field of control. The control method comprises the following steps: S1, confirming task elements, wherein the task elements comprise communication diversity requirements, the number of robots, the number of groups and symmetry requirements; S2, designing a networked topology structure based on the task elements, and constructing a switching topology based on the networked topology structure; S3, designing an adaptive torque controller based on the switching topology and a high-order nonlinear Lagrange robot model constructed in step S2, and determining a control protocol; and S4, performing distributed adaptive adjustment of a multi-robot system according to the control protocol determined in step S3, realizing group bilateral control under the switching topology, and completing a cooperative task.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of control, and particularly relates to a complex task cooperative control method of networked multi-robot with switching topology, a micro-control unit and a control system. BACKGROUND

[0002] In recent years, the application of robots gradually shifts from traditional artificial manufacturing industry to other industries and fields, such as medical treatment, military, aviation, industrial measurement and the like. Multi-agent cooperative work also enters into real scenes, and since the cooperative robot has a wide range of control methods, it is often applied to unknown and harsh scenes, such as battlefield environment survey, rescue material delivery, detection of narrow space and the like. However, with more and more sudden conditions occurring in the society, the requirement of human beings for the multi-agent system becomes more and more refined, that is, the multi-robot system needs to consider networked structure, task target diversity and the like while performing cooperative tasks.

[0003] The communication network of the multi-robot system is easily affected by the environment, causing unstable connection between the robots. The current method for network communication of the multi-robot is relatively insufficient, which causes that there are not many completion schemes for complex tasks, and this belongs to a problem to be solved. Compared with the scheme that the multi-robot system completes the cooperative task with a fixed network topology structure, it is of great significance to establish a complex task cooperative control method of networked multi-robot with switching topology. SUMMARY

[0004] In view of the problems and deficiencies in the prior art, the purpose of the present application is to provide a complex task cooperative control method of networked multi-robot with switching topology, a micro-control unit and a control system.

[0005] To achieve the purpose of the application, the technical scheme adopted by the present application is as follows:

[0006] The present application provides a complex task cooperative control method of networked multi-robot with switching topology in the first aspect, comprising the following steps:

[0007] S1: confirmation of task elements, the task elements including communication diversity requirement, number of robots, number of groups and symmetry requirement;

[0008] S2: design of networked topology structure based on the task elements, and construction of switching topology based on the networked topology structure;

[0009] S3: design of an adaptive torque controller based on the switching topology constructed in step S2 and a high-order nonlinear Lagrange robot model, and determination of a control protocol;

[0010] S4: The multi-robot system performs distributed adaptive adjustment according to the control protocol determined in step S3, realizes group-based bilateral control under the switched topology, and completes the cooperative task.

[0011] Further, the specific process of designing the networked topology based on the task elements in step S2 includes:

[0012] The networked topology of the N robots is represented by graph , Let be the index set of , be the node set of , and the node and the robot be a unique correspondence; be the edge set of , e ij ∈εe ij ∈ε means that the robot i can obtain the information of the robot j; be the adjacency matrix of graph , a ij represent the weight of edge e ij , and all weight symbols are consistent in the unilateral case; the Laplacian matrix is defined as where Under this definition, it is required that graph has a spanning tree.

[0013] Further, the process of adding bilateral relationships to the networked topology of the N robots is as follows: the weight a ij of e ij has positive and negative values, at which time graph has a spanning tree and is structurally balanced, and there exists a correction matrix Φ j = diag(φ1,..., φ N ), φ i ∈{1, -1}, such that the elements of φAφ are non-negative; the Laplacian matrix is defined as where

[0014] Further, the specific process of designing the networked topology based on the task elements in step S2 includes:

[0015] The N robots are divided into k groups, and the partition of graph satisfies

[0016] Let and Correspondingly, the adjacency matrix of graph is and the Laplacian matrix is

[0017] For groupings without cycles, their adjacency matrix and Laplace matrix intuitively exhibit a lower triangular characteristic:

[0018]

[0019] In addition, record For sub-point set Related base map;

[0020] In a grouping topology based on bilateral relationships, each is required to corresponding It has a spanning tree and is structurally balanced. and The in-degree and out-degree are balanced;

[0021] If a facilitator is introduced into the j-th group and denoted as 0, then... (j) , Given the topology of this group, j = 1, 2, ..., k, in this case, only the robot in the j-th group can obtain 0. (j) Information, a i0 This represents the weight assigned to robot i by the group leader.

[0022] Furthermore, the specific process of constructing the switching topology based on the networked topology in step S2 includes:

[0023] Set the switching instruction σ(t), which is a piecewise function on [0→∞): σ([t i , t i+1 ))=r∈ρ

[0024] Where {t i} i∈N It is a cut of [0→∞), a countable set It is a strictly ordered set, i.e., t0 = 0 < t1 < t2 ..., and there exists a positive constant τ such that any ... All have t i+1 -t i >τ;

[0025] The switching topology based on instruction σ(t) is denoted as follows: ρ is called the capacity of the topology call set;

[0026] According to the instruction σ(t), edge set and power set Changes occur, thus updating the network topology;

[0027] Switching topologies when each group has a facilitator is denoted as... At this time, Regarding time series are jointly connected, and each communication topology is structurally balanced.

[0028] Further, the equation of the high-order nonlinear Lagrangian robot model in step S3 is:

[0029]

[0030] where M i (q i )∈R n×n is a symmetric positive definite inertia matrix, which is only related to the generalized coordinates, is a Coriolis and centrifugal force matrix, G i (q i )∈R n is a generalized potential force, τ i ∈R n is an input torque vector. For the dynamics of a parameter-uncertain Lagrangian, there is a linear regression with respect to constant parameters:

[0031]

[0032] where is the linear regression matrix of the parameter-uncertain equation with respect to constant parameters θ i , and x and y are any differentiable vectors in space R n .

[0033] Further, the specific process of determining the control protocol in step S3 includes:

[0034] Set the system of the robot leader 0 (i) to

[0035] On the basis of adding a leader to each group, set an observer:

[0036]

[0037] wherein,

[0038] Take α>0, and define a reference velocity vector Introduce a sliding mode variable

[0039] Finally, an adaptive control protocol is given: wherein the parameter estimation error satisfies: The coupling coefficients and the parameters are all positive definite matrices.

[0040] The second aspect of the present application provides a micro-control unit loaded with an adaptive torque control protocol or program capable of executing the above-mentioned control method.

[0041] The third aspect of the present application provides a networked multi-robot complex task cooperative control system with a switching topology, comprising a plurality of mobile robots and a master control module; each mobile robot comprises an information unit, a communication unit, a control unit and an execution unit; the master control module is a hardware device equipped with a microprocessor, has a wireless communication function, is used for recording system historical data and outputting switching topology instructions; the control unit is provided with the micro-control unit of the second aspect of the present application; the master control module selects a corresponding topology structure according to a task element and a switching topology instruction, and allocates information rights of each robot; the information unit of each robot delivers collected information to the control unit; the control unit converts a control protocol into a control language readable by the execution unit and delivers the control language to the execution unit; the execution unit controls autonomous movement and cooperative matching of the plurality of mobile robots according to an instruction of the control information, and executes the control method of the first aspect of the present application.

[0042] Further, each mobile robot is equipped with a plurality of sensing devices for real-time monitoring and obtaining state information of each robot, including position, speed and other physical information.

[0043] Further, the information unit can obtain state information of adjacent point robots according to a network topology structure.

[0044] Further, the communication unit can communicate with each robot and the master control module.

[0045] Further, the control unit is used for storing a control protocol, and storing and updating protocol storage information in real time according to state information of the robot.

[0046] Further, the execution unit is provided with an encoder capable of obtaining speed information of the robot in real time.

[0047] The fourth aspect of the present application provides an electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement any step of the control method of the first aspect of the present application.

[0048] The fifth aspect of the present application provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by a computer processor to implement any step of the control method of the first aspect of the present application.

[0049] Compared with the prior art, the present application has the following beneficial effects:

[0050] The application provides a networked multi-robot cooperative control system and control method with switching topology for complex tasks. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 is a communication topology graph of example 1;

[0052] Figure 2 is a first coordinate position change graph of example 1;

[0053] Figure 3 is a second coordinate position change graph of example 1;

[0054] Figure 4 is a first coordinate speed change graph of example 1;

[0055] Figure 5 is a second coordinate speed change graph of example 1;

[0056] Figure 6 is a communication topology graph of example 2;

[0057] Figure 7 is a first and second coordinate position change graph of example 2;

[0058] Figure 8 is a first and second coordinate speed change graph of example 2. DETAILED DESCRIPTION

[0059] The application will be further described below in combination with specific embodiments.

[0060] Example 1:

[0061] A networked multi-robot complex task cooperative control method with switching topology comprises the following contents:

[0062] S1: task element confirmation

[0063] The objective is to establish a flexible communication structure for the 11 robots, which are then divided into three groups. The robots within each group maintain symmetrical and consistent positions, and the overall system speed reaches a stable point.

[0064] S2: Networking based on task elements

[0065] (1) As Figure 1 As shown in the figure, the network topology of the 11 robots is represented by the diagram. Indicated, denoted as set up For its index set, yes The set of nodes, where each node has a unique correspondence with the robot; yes edge set, e ij ∈εe ij ∈ε means that robot i can obtain information about robot j; For the image The adjacency matrix, a ij Representing edge e ij The weights are all consistent in sign in the one-sided case; the Laplace matrix is ​​defined based on its adjacency matrix. in Under this definition, the graph is required to be... There is a spanning tree;

[0066] (2) Add bilateral relations to the networked communication of the 11 robots, at which point e ij weight a ij The value of can be positive or negative, assuming the graph If there is a spanning tree and it is structurally balanced, then there exists a correction matrix Φ. j =diag(φ1, ..., φ7), φ i ∈{1, -1}, such that the elements of ΦAΦ are non-negative; therefore, in this case, the Laplace matrix is ​​defined as in

[0067] (3) Dividing the 11 robots into 3 groups is correct. Division satisfy: in

[0068] set up as well as Accordingly, design the diagram The adjacency matrix is Let its Laplace matrix be

[0069] For the group without cyclic partition, its adjacency matrix and Laplacian matrix have the lower triangular feature intuitively:

[0070]

[0071] In addition, record the base map related to the sub-point set ;

[0072] Under the group topology based on bilateral relations, each corresponding has a spanning tree and is structurally balanced, and the in-degree and out-degree between ;

[0073] There is a correction matrix such that Φ j A jj Φ j The elements of j=1,2,...,3, Φ i A ij Φ j are non-negative and structurally balanced;

[0074] Therefore, the form of the Laplacian matrix is defined as: Where

[0075] (4) Construct the switching topology

[0076] Set the switching instruction which is a piecewise function on [0→∞): σ([t i , t i+1 ])=r∈ρ

[0077] Where {t i} i∈N is the cut of [0→∞), and the countable set {t i} i ∈N is a strictly ordered set, that is, t0=0<t1<t2…, and there exists a positive number τ such that t i+1 -t i >τ for any ;

[0078] Therefore, the switching topology based on the instruction σ(t) is denoted as ρ is called the capacity of the topology call set;

[0079] According to the instruction σ(t), the edge set of and the weight set of are changed to update the network topology;

[0080] In the case of switching topology and each group has a leader, denoted as and At this time, assume are about time series is structure balanced and has joint connectivity.

[0081] S3: Control protocol based on robot system equation

[0082] Analysis of 11 robot systems represented by 11 high-order nonlinear Lagrange equations, each robot position q i ∈R 2 , velocity satisfy:

[0083]

[0084]

[0085]

[0086] where g = 9.8 m / s 2 , other parameters are shown in Table 1:

[0087] Table 1. Other parameters of robot system

[0088]

[0089] Set the robot leader 0 (i) system as:

[0090]

[0091] where is the velocity and acceleration of the ith robot, K1 =... = K 11 = 20 diag{1.3, 0.6}, Λ1 =... = Λ 11 = 10I2;

[0092] On the basis of adding a leader to each group, set the observer:

[0093]

[0094] where,

[0095] Take α > 0, define the reference velocity vector

[0096] Introduce sliding mode variable

[0097] Give adaptive control protocol:

[0098] where the parameter estimation error satisfies:

[0099] its coupling coefficient and parameter are positive definite matrices.

[0100] S4: The multi-robot system performs distributed adaptive adjustment according to the control protocol given in step S3, realizes group bilateral control under the switching topology, and completes the collaborative task.

[0101] Figures 2-5 The first coordinate position change graph, the second coordinate position change graph, the first coordinate speed change graph, and the second coordinate speed change graph of the embodiment are shown in sequence. As can be seen from the graphs, the system can reach state consistency and a stable point under network communication with switching topology, and the speed converges to 0.

[0102] Embodiment 2:

[0103] A networked multi-robot complex task collaborative control method with switching topology includes the following contents:

[0104] S1: Confirmation of task elements

[0105] The communication structure of the task target of 7 robots has a certain flexibility, and finally divided into 3 groups, the positions of the robots in the groups are symmetrically consistent, and the speed of the whole system reaches a stable point.

[0106] S2: Network based on task target

[0107] (1) As shown in Figure 6 , the network topology of 7 robots is represented by graph , denoted as Let be its index set, be the node set of , and the node and the robot are a unique correspondence; be the edge set of , e ij ∈εe ij ∈ε means that robot i can obtain the information of robot j; be the adjacency matrix of graph , a ij denotes the weight of edge e ij , and all weight symbols are consistent in the single edge case; the Laplacian matrix is defined as where Under this definition, it is required that graph There is a spanning tree;

[0108] (2) Add bilateral relations for the networked communication of 7 robots, at this time, the e ij The weight a ij The value of a There is a spanning tree and is structurally balanced, then there is a correction matrix Φ j = diag (φ1,..., φ7), φ i ∈ {1, -1}, such that the elements of ΦAΦ are non-negative; Therefore, the Laplacian matrix is defined as Where

[0109] (3) Divide the 7 robots into 3 groups, which is a partition of the graph The partition satisfies: Where Let And Correspondingly, let the adjacency matrix of the graph Be Let its Laplacian matrix be

[0110] For the acyclic partitioned groups, their adjacency matrices and Laplacian matrices have the characteristics of lower triangular matrices:

[0111]

[0112] In addition, let Be the subgraph related to the sub-point set

[0113] Under the grouping topology based on bilateral relations, each The corresponding Has a spanning tree and is structurally balanced, The in-degree and out-degree between Are balanced;

[0114] There is a correction matrix So that the elements of Φ j A jj Φ j Are non-negative, j = 1, 2,..., 3, Φ i A ij Φ j Is structurally balanced;

[0115] Therefore, the Laplacian matrix is defined as: Where

[0116] ​​(4) Constructing the switching topology

[0117] Set switching command It is a piecewise function on [0→∞): σ([t i , t i+1 ))=r∈ρ

[0118] Where {t i} i∈N It is a cut of [0→∞), and the countable set {t} i} i∈N It is a strictly ordered set, i.e., t0 = 0 < t1 < t2 ..., and there exists a positive constant τ such that any ... All have t i+1 -t i >τ;

[0119] Therefore, the switching topology based on instruction σ(t) is denoted as ρ is called the capacity of the topology call set;

[0120] According to the instruction σ(t), edge set and power set The network topology was changed to update the network topology.

[0121] When switching topologies and each group has a leader, it is denoted as follows: as well as at this time, Regarding time series They are jointly connected, and each communication topology is structurally balanced.

[0122] S3: Control Protocol Based on Robot System Equations

[0123] Analyze seven robot systems represented by seven high-order nonlinear Lagrange equations, with each robot having a position q. i ∈R 2 ,speed satisfy:

[0124]

[0125]

[0126]

[0127] Where g = 9.8 m / s 2 Other parameters are shown in Table 2:

[0128] Table 2 Other parameters of the robot system

[0129]

[0130] Setting robot leader 0 (i) The system is:

[0131]

[0132] where is the velocity, acceleration of the i th robot,

[0133] K1=…=K7=16diag{1.3,0.6},Λ1=…=Λ7=6I2;

[0134] On the basis of adding leaders in each group, the observer is set:

[0135]

[0136] where,

[0137] Take α>0, define the reference velocity vector

[0138] Sliding mode variable is introduced

[0139] An adaptive control protocol is given:

[0140] Where the parameter estimation error Satisfies:

[0141] The coupling coefficient And the parameters Are positive definite matrices.

[0142] S4: The multi-robot system performs distributed adaptive adjustment according to the control protocol given in step S3, realizes group bilateral control under the switching topology, and completes the cooperative task.

[0143] Figures 7-8 In turn, the first coordinate position change diagram, the second coordinate position change diagram, the first coordinate speed change diagram and the second coordinate speed change diagram of the embodiment, from the figure, it can be seen that the system can reach state consistency under the network communication with switching topology, reach the stable point, and the speed converges to 0.

[0144] Embodiment 3:

[0145] A networked multi-robot complex task cooperative control system with switching topology, comprising a plurality of mobile robots and a master control module; each mobile robot comprises an information unit, a communication unit, a control unit and an execution unit;

[0146] The master module is a hardware device with a microprocessor, has wireless communication function, and is used for recording system history data and outputting switching topology instruction;

[0147] Each mobile robot is equipped with a plurality of sensing devices, which are used for monitoring and obtaining state information of each robot in real time, including position, speed and other physical information;

[0148] The information unit can obtain state information of adjacent point robots according to the network topology structure;

[0149] The communication unit can communicate with each robot and the master module;

[0150] The control unit is used for storing control protocol and storing and updating protocol storage information in real time according to the state information of the robot;

[0151] The execution unit is provided with an encoder, which can obtain speed information of the robot in real time;

[0152] The specific flow of the control system for realizing the control method of embodiments 1 or 2 is as follows:

[0153] (1) The master module gives quantifiable indexes of a complex task, and the content of the quantifiable indexes includes communication diversity requirement, number of robots, number of groups and symmetry requirement;

[0154] (2) The master module determines switching topology instruction according to the communication diversity requirement in the basic elements of the complex task, determines topology calling set based on the number of robots, the number of groups and the symmetry requirement, selects a topology structure from the topology calling set according to the switching topology instruction, updates the network topology structure, and allocates information rights of all robots according to the network topology structure;

[0155] (3) The information unit of each robot obtains state information of each adjacent point robot, including speed information and position information, by accessing right, and delivers the state information to the control unit of itself;

[0156] (4) The control unit of each robot calculates control torque according to the control protocol, and delivers the obtained control torque to the execution unit as control information to obtain acceleration amount;

[0157] (5) The plurality of sensors of each robot measure speed information and position information of the execution unit according to the acceleration amount;

[0158] (6) Steps (2)-(5) are repeated until the system completes the complex task.

[0159] Embodiment 4

[0160] An electronic device comprising a memory and a processor, said memory having stored thereon a computer program, said processor implementing any of the steps of a method for complex task coordination of networked multi-robot with switching topology as claimed in embodiment 1 or 2 when executing said computer program.

[0161] Further, the method for complex task coordination of networked multi-robot with switching topology as claimed in embodiment 1 or 2 can be implemented as a computer software program. For example, the present embodiment comprises a computer program product comprising a computer program carried on a computer readable medium, the computer program comprising program code for executing the method. In such an embodiment, the computer program can be downloaded and installed from a network and / or installed from a removable media. When the computer program is executed by a processor, the above-mentioned functions defined in the method of the present application are performed.

[0162] Embodiment 5

[0163] A computer readable storage medium having stored thereon a computer program, said computer program implementing any of the steps of a method for complex task coordination of networked multi-robot with switching topology as claimed in embodiment 1 or 2 when executed by a processor.

[0164] The computer readable medium described in the present application can be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination of the above. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, the computer readable storage medium can be any tangible medium that contains or stores a program that can be used by or in connection with an instruction execution system, apparatus or device. In the present application, the computer readable signal medium can include a data signal that propagates in a baseband or as part of a carrier wave in a propagated data signal, in which the computer readable program code is carried. Such a propagated data signal can take many forms, including but not limited to electro-magnetic, optical, or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and that can communicate, transmit, or transport a program for use by or in connection with an instruction execution system, apparatus or device. The program code contained on the computer readable medium can be transmitted or propagated using any suitable medium, including but not limited to wireless, wire line, optical fiber, RF, etc., or any suitable combination of the above.

[0165] Computer program code for carrying out operations of the present application can be written in one or more programming languages or combinations of languages including object oriented programming languages such as Java, Smalltalk, C++ or conventional procedural programming languages such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0166] In summary, the present application effectively overcomes the deficiencies in the prior art, and has a high industrial utilization value. The above examples serve to illustrate the essential content of the present application, but do not limit the scope of protection of the present application. Those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the essence and protection scope of the technical solutions of the present application.

Claims

1. A networked multi-robot collaborative control method for complex tasks with switching topology, characterized in that, Includes the following steps: S1: Confirmation of task elements, including: communication diversity requirements, number of robots, number of groups, and symmetry requirements; S2: Design a networked topology based on task elements, and construct a switching topology based on the networked topology; The specific process of designing a networked topology based on task elements in step S2 includes: The network topology of N robots is given by the diagram. express, yes index set, yes The set of nodes, where each node has a unique correspondence with the robot; yes edge set, e ij ∈εe ij Robot i obtains information about robot j; For the image The adjacency matrix, a ij Representing edge e ij The weights are given, and in the case of one-sidedness, all weights have the same sign; the Laplace matrix is ​​defined based on its adjacency matrix as follows: in l ij =-a ij (i≠j), the graph is required. There is a spanning tree; The specific process of constructing a switching topology based on the networked topology in step S2 includes: Set the switching instruction σ(t), which is a piecewise function on [0→∞): σ([t i , t i+1 ))=r∈ρ Among them is a cut of [0 → ∞), a countable set is a strictly ordered set, that is, t0 = 0 < t1 < t2…, and there exists a positive constant τ such that for any both have t i+1 - t i > τ; The switching topology based on instruction σ(t) is denoted as follows: ρ is called the capacity of the topology call set; According to the instruction σ(t), edge set and power set Changes occur, thus updating the network topology; Switching topologies when each group has a facilitator is denoted as... Regarding time series It is jointly connected, and each communication topology is structurally balanced; S3: Based on the switching topology and high-order nonlinear Lagrange robot model constructed in step S2, design an adaptive torque controller and determine the control protocol; S4: The multi-robot system performs distributed adaptive adjustments according to the control protocol determined in step S3, realizes grouped bilateral control under the switching topology, and completes the collaborative task.

2. The control method according to claim 1, characterized in that, To add bilateral relationships to the network topology of the N robots, the process is as follows: for e ij weight a ij The value of can be positive or negative, at which point the graph... It has a spanning tree and is structurally balanced, and also has a correction matrix Φ. j =diag(φ1, ..., φ) N ), φ i For any ∈ {1, -1}, such that the elements of ΦAΦ are non-negative; define the Laplace matrix as... in l ij =-a ij (i≠j).

3. The control method according to claim 2, characterized in that, The specific process of designing the networked topology based on task elements in step S2 also includes: Divide the N robots into k groups, the diagram Division satisfy: set up as well as Correspondingly, the diagram The adjacency matrix is Its Laplace matrix is For groupings without cycles, their adjacency matrix and Laplace matrix intuitively exhibit a lower triangular shape: In addition, record For sub-point set Related base map; In a grouping topology based on bilateral relationships, each is required to corresponding It has a spanning tree and is structurally balanced. and The in-degree and out-degree are balanced; If a facilitator is introduced into the j-th group and denoted as 0, then... (j) , Given the topology of this group, j = 1, 2, ..., k, in this case, only the robot in the j-th group can obtain 0. (j) Information, a i0 This represents the weight assigned to robot i by the group leader.

4. The control method according to claim 3, characterized in that, The specific process of determining the control protocol in step S3 includes: Set Robot Guide 0 (i) The system is With a facilitator added to each group, an observer is set up: in, Let α > 0, and define a reference velocity vector. Introducing sliding mode variables Finally, the adaptive control protocol is presented: Among them, parameter estimation error satisfy Its coupling coefficient and parameters All are positive definite matrices.

5. A microcontroller unit, characterized in that, It carries an adaptive torque control protocol or program capable of performing the control method described in any one of claims 1-4.

6. A networked multi-robot collaborative control system with switching topology for complex tasks, characterized in that, The system comprises multiple mobile robots and a main control module. Each mobile robot includes an information unit, a communication unit, a control unit, and an execution unit. The main control module is a hardware device equipped with a microprocessor, which has wireless communication capabilities and is used to record historical system data and output topology switching instructions. The control unit is equipped with the microcontroller unit described in claim 5. The main control module selects the corresponding topology structure according to the task elements and the topology switching instructions, and assigns information permissions to each robot. The information unit of each robot transmits the collected information to the control unit. The control unit converts the control protocol into a control language readable by the execution unit and transmits it to the execution unit. The execution unit controls the autonomous movement and coordinated cooperation of the multiple mobile robots according to the instructions of the control information, and executes the control method described in any one of claims 1-4.

7. An electronic device, comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the processor executes the computer program, it implements any step in the networked multi-robot complex task cooperative control method with switching topology as described in any one of claims 1-4.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a computer processor, implements any step in the networked multi-robot complex task cooperative control method with switching topology as described in any of claims 1-4.

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