Distributed cooperative carrying method of dragger and booster system
CN119820558AActive Publication Date: 2025-04-15HUAZHONG UNIV OF SCI & TECH
Patent Information
- Application Number
- CN202411955215.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-27
- Publication Date
- 2025-04-15
- Estimated Expiration
- 2044-12-27
Smart Images
Figure CN119820558A_ABST
Abstract
The invention belongs to the technical field of robots, and discloses a decentralized cooperative carrying method of a dragger and booster system, which comprises the following steps: firstly, designing a decentralized estimator for a booster to estimate an expected track and kinetic parameters, and then providing a decentralized controller to realize cooperative carrying; unknown parameters are estimated by adopting dynamic regression expansion and a hybrid DREM method, and the parameters are ensured to be converged to true values under the condition of meeting continuous excitation. The invention provides a distributed cooperative carrying method of a dragging person and assisting person system, roles of a robot are divided into dragging persons and assisting persons, and a DREM parameter estimation method is integrated to solve the trajectory tracking problem.
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Citation Information
Patent Citations
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