带有多未知性的无人车编队控制
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摘要
文中研究无人车领导者具有未知线速度、角速度及其未知上界等多种未知性的无人车编队控制问题.首先,通过变换将无人车编队控制问题转化为无人车一致性问题;其次,为补偿这些未知性,通过建立时变反馈控制方法,解决了无人车一致性控制问题,进而实现了无人车编队控制.该方法的核心思想是在控制器中引入一个时间函数使得随着时间的增加,这些未知性能够得到补偿.最后,通过数值仿真验证了控制算法的有效性.
This paper investigates the formation control problem of UAV with multiple unknowns, such as unknown linear velocity, unknown angular velocity and unknown upper bounds of these variables. Firstly the formation control problem of unmanned vehicles is transformed to vehicle consensus problem by a transformation. Then, to compensate these unknowns, a time-varying feedback control method is developed which solves the consensus problem of unmanned vehicles, and implements the formation control of unmanned vehicles. The key idea of this method is that a function of time is introduced into controller so that these unknowns can be compensated as time increases. Finally, an example is given to illustrate the effectiveness of the proposed controller.
This paper investigates the formation control problem of UAV with multiple unknowns, such as unknown linear velocity, unknown angular velocity and unknown upper bounds of these variables. Firstly the formation control problem of unmanned vehicles is transformed to vehicle consensus problem by a transformation. Then, to compensate these unknowns, a time-varying feedback control method is developed which solves the consensus problem of unmanned vehicles, and implements the formation control of unmanned vehicles. The key idea of this method is that a function of time is introduced into controller so that these unknowns can be compensated as time increases. Finally, an example is given to illustrate the effectiveness of the proposed controller.
引文
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[2] Cucker F,Smale S.Emergent behavior in flocks[J].IEEE Transactions on Automatic Control,2007,52(5):852-862.
[3] Olfati-Saber R,Fax J A,Murray R M.Consensus and cooperation in networked multi-agent systems[J].Proceedings of the IEEE,2007,95(1):215-233.
[4] Couzin I D.Collective cognition in animal groups[J].Trends in Cognitive Sciences,2009,13(1):36-43.
[5] Vicsek T,Zafeiris A.Collective Motion[J].Physics Reports,2012,517(3):71-140.
[6] Yang S P,Tan S C,Xu J X.Consensus based approach for economic dispatch problem in a smart grid[J].IEEE Transactions on Power Systems,2013,28(4):4416-4426.
[7] Habibi J,Mahboubi H,Aghdam A G.Distributed coverage control of mobile sensor networks subject to measurement error[J].IEEE Transactions on Automatic Control,2016,61(11):3330-3343.
[8] Qu Z H,Wang J,Hull R A.Cooperative control of dynamical systems with application to autonomous vehicles[J].IEEE Transactions on Automatic Control,2008,53(4):894-911.
[9] Oh K K,Park M C,Ahn H S.A survey of multi-agent formation control[J].Automatica,2015(53):424-440.
[10] Defoort M,Floquet T,Kokosy A,et al.Sliding-mode formation control for cooperative autonomous mobile robots[J].IEEE Transactions on Industrial Electronics,2008,55(11):3944-3953.
[11] Wang R,Dong X,Li Q,et al.Distributed adaptive time varying formation for multi-agent systems with general high-order linear time-invariant dynamics[J].Journal of the Franklin Institute,2016,353(10):2290-2304.
[12] Galeani S,Sassano M.Modal consensus synchronization and formation control with distributed endogenous internal models[J].Automatica,2018(95):163-171.
[13] Bloch A,Baillieul J,Crouch P,et al.Nonholo-nomic mechanics and control[M].2nd ed.New York:Springer,2015.
[14] Dong W,Farrell J A.Cooperative control of multiple nonholonomic mobile agents[J].IEEE Transactions on Automatic Control,2008,53(6):1434-1448.
[15] Dong W,Farrell J A.Decentralized cooperative control of multiple nonholonomic dynamic systems with uncertainty[J].Automatica,2009,45(3):706-710.
[16] Klancar G,Zdesar A,Blazic S,et al.Wheeled mobile robotics:from fundamentals towards autonomous systems[M].Butterworth Heinemann,2017.
[17] Peng Z,Wen G,Rahmani A,et al.Distributed consensus-based formation control for multiple nonholonomic mobile robots with a specified reference trajectory[J].International Journal of Systems Science,2015,46(8):1447-1457.
[18] Shevitz,D.,Paden,B.,Lyapunov stability theory of nonsmooth systems[J].IEEE Transactions on Automatic Control,1994,39(9),416- 421.