基于干扰观测器的多移动机器人编队鲁棒控制
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摘要
针对多移动机器人存在模型参数不确定性和外部扰动的编队控制问题,提出了一种多移动机器人编队的鲁棒控制方法。在运动学层面依据领航机器人和跟随机器人位姿的偏差,建立领航机器人和跟随机器人的编队误差动态模型,在此基础上为跟随机器人设计镇定编队误差的辅助速度控制器。以辅助速度控制器的输出作为跟随机器人动力学模型的速度给定信号,并在动力学层面设计基于干扰观测器的自适应滑模控制算法,从而改善普通滑模控制中抖振突出的问题,保证编队控制的稳定性和鲁棒性。对编队控制系统进行仿真验证,结果表明了所提控制方法的有效性。
In this paper,a robust control method is proposed for the formation control of multiple mobile robots to address model parameter uncertainties and the external disturbances. Firstly,at the kinematic level the dynamic model of the formation errors is established according to the posture errors between the navigation robot and the follower robot. Based on that,an auxiliary velocity controller is designed for the following robot to stabilize the formation errors. Then,using the output signals of the auxiliary speed controller as the speed given signals of the following robot,an adaptive sliding mode control algorithm based on disturbance observer is designed in terms of kinetics. Thus,the problem of chattering in ordinary sliding mode control is improved,and the stability and robustness of formation control are also guaranteed. Simulation results validate the effectiveness of the proposed control method.
In this paper,a robust control method is proposed for the formation control of multiple mobile robots to address model parameter uncertainties and the external disturbances. Firstly,at the kinematic level the dynamic model of the formation errors is established according to the posture errors between the navigation robot and the follower robot. Based on that,an auxiliary velocity controller is designed for the following robot to stabilize the formation errors. Then,using the output signals of the auxiliary speed controller as the speed given signals of the following robot,an adaptive sliding mode control algorithm based on disturbance observer is designed in terms of kinetics. Thus,the problem of chattering in ordinary sliding mode control is improved,and the stability and robustness of formation control are also guaranteed. Simulation results validate the effectiveness of the proposed control method.
引文
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[2]DEFOORT M,FLOQUET T.Sliding-Mode Formation Control for Cooperative Autonomous Mobile Robots[J].IEEE Transactions on Industrial Electronics,2008,55(11):3944-3953.
[3]PANAGOU D,KUMAR V.Cooperative Visibility Maintenance for Leader-Follower Formations in Obstacle Environments[J].IEEE Transactions on Robotics,2014,30(4):831-843.
[4]SHEN D B,SUN W J.Adaptive PID formation control of nonholonomic robots without leader’s velocity infomation[J].ISA Transactions,2014,53(2):474-480.
[5]LAWTON J R T,BEARD R W.A decentralized approach to formation maneuvers[J].IEEE Transactions on Robotics and Automation,2003,19(6):933-941.
[6]MEHRJERDI H,SAAD M.Hierarchical Fuzzy Cooperative Control and Path Following for a Team of Mobile Robots[J].IEEE/ASME Transactions on Mechatronics,2011,16(5):907-917.
[7]BRUNETE A,HERNANDO M,GAMBAO E,TORRES J E.A behaviour-based control architecture for heterogeneous modular,multi-configurable,chained microrobots,Robot[J].Robotics and Autonomous Systems,2012,60(12):1607-1624.
[8]REZAEE H,ABDOLLAHI F.A decentralized cooperative control scheme with obstacle avoidance for a team of mobile robots[J].IEEE Transactions on Industrial Electronics,2014,61(1):347-354.
[9]CHEN L,MA B L.A nonlinear formation control of wheeled mobile robots with virtual structure approach[C]//Proceedings of the 34th Chinese Control Conference.Hangzhou:IEEE Press,2015:1080-1085.
[10]PENG Z X,WEN G G.Leader-follower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach[J].Robotics and Autonomous Systems,2013,61(9):988-996.
[11]DIERKS T,JAGANNATHAN S.Neural network control of mobile robot formations using RISE feedback[J].IEEE Transactions on Systems,Man,and Cybernetics,2009,39(2):332-335.
[12]DAI Y Y.The Leader-Follower Formation control of nonholonomic mobile robots[J].International Journal of Control,Automation and Systems,2012,10(2):350-361.
[13]LIU T,JIANG Z P.Distributed formation control of nonholonomic mobile robots without global position measurements[J].Automatic,2013,49(2):592-600.
[14]LI Z,YANG C,SU C Y,et al.Vision-Based Model Predictive Control for Steering of a Nonholonomic Mobile Robot[J].IEEE Transactions on Control Systems Technology,2016,24(2):553-564.
[15]MIN Y Y,LIU Y G.Barbalat lemma and its application in analysis of stability[J].Journal of Shandong University:Engineering Science,2007,37(1):51-55.