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基于滑模变结构控制多机器人协同编队的研究综述
投稿时间:2019-12-11  修订日期:2020-06-11  点此下载全文
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作者单位E-mail
陈旭 南京信息工程大学 781090328@qq.com 
胡凯 南京信息工程大学 179189237@qq.com 
基金项目:国家自然科学基金(61773219, 61701244),国家重点研发计划重点专项课题(2018YFC1405703)
中文摘要:滑模变结构控制(Sliding Mode Variable Structure Control,SMC)因响应速度快、自适应性强以及工程实现简单等优点,对解决典型非线性的多机器人控制系统具备良好的效果。基于此,本文介绍了SMC的发展、原理以及在多机器人协同编队领域的应用。但同时,SMC本身还存在抖振等缺陷,从而限制了其应用。为进一步提升SMC的控制品质,获得更快的响应、对扰动更强的鲁棒性以及更好的稳态性能,本文深入了研究近些年神经网络、模糊逻辑、鲁棒自适应等先进智能控制方法与SMC结合的工作,并对这些新型编队控制策略进行了对比分析。最后展望了该领域未来的研究方向。
中文关键词:滑模变结构控制  多机器人  协同编队  智能控制
 
A Review of Research on Cooperative Formation of Multiple Robots Based on Sliding Mode Variable Structure Control
Abstract:Sliding Mode Variable Structure Control (SMC) has good effects on solving typical nonlinear multi-robot control systems due to its fast response speed, strong adaptability, and simple engineering implementation. Based on this, this article introduces the development, principle and application of SMC in the field of multi-robot cooperative formation. But at the same time, the SMC itself has defects such as chattering, which limits its application. In order to further improve the control quality of SMC, to obtain faster response, stronger robustness to disturbances and better steady-state performance, this article has in-depth research on advanced intelligence such as neural networks, fuzzy logic, robust adaptive, etc. The control method is combined with SMC, and these new formation control strategies are compared and analyzed. Finally, the future research directions in this field are prospected.
keywords:sliding mode variable structure control  multi-robots  c intelligent control  cooperative formation
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