2025年4月6日 5:04 星期日
首页 > 过刊浏览>2021年第13卷第1期 >111-115. DOI:10.13878/j.cnki.jnuist.2021.01.015
PDF HTML阅读 XML下载 导出引用 引用提醒
基于双幂次滑模的多机器人编队控制
作者:
中图分类号:

TP13

基金项目:

国家自然科学基金（61773146，61973102，61703132）


Formation control of the multi-robot system based on dualpower sliding mode
Author:
  • 摘要
    • | |
  • 访问统计
    • |
  • 参考文献
    • |
  • 相似文献
    • |
  • 引证文献
    • | |
  • 文章评论
    摘要:

    本文研究了基于领航跟随法的多机器人系统编队控制问题.首先,基于队形约束,给出跟随者期望的轨迹,将编队问题转化为单个跟随者的轨迹跟踪问题.在此基础上,基于双幂次滑模趋近律,设计了跟随者的线速度和角速度控制器,保证了跟踪误差能够快速收敛到零,从而保证了编队队形的稳定.最后,通过仿真验证了所提方法的有效性.

    Abstract:

    The leader-follower formation control of the multi-robot system is studied in this paper.The expected trajectory of the follower is given according to the formation constraints,thus the formation issue is turned into trajectory tracking of a single follower.Then the linear velocity controller and angular velocity controller for the follower are designed based on dual power reaching law method,which can ensure that the tracking error quickly converge to zero,so as to keep the formation stability.Finally,a numerical example is given to verify the effectiveness of the proposed method.

    参考文献
    [1] Tzafestas S G.Mobile robot control and navigation:a global overview[J].Journal of Intelligent & Robotic Systems,2018,91(1):35-58
    [2] Samson C,Morin P,Lenain R.Modeling and control of wheeled mobile robots[M]//Springer Handbook of Robotics.Cham:Springer International Publishing,2016:1235-1266
    [3] Burgard W,Moors M,Fox D,et al.Collaborative multi-robot exploration[C]//IEEE International Conference on Robotics and Automation,2000:476-481
    [4] Marco D B,Healey A J.Command,control,and navigation experimental results with the NPS ARIES AUV[J].IEEE Journal of Oceanic Engineering,2001,26(4):466-476
    [5] Ghosh A,Ghosh A,Konar A,et al.Multi-robot cooperative box-pushing problem using multi-objective particle swarm optimization technique[C]//World Congress on Information and Communication Technologies,2012:272-277
    [6] Oh K K,Park M C,Ahn H S.A survey of multi-agent formation control[J].Automatica,2015,53:424-440
    [7] Scharf D P,Hadaegh F Y,Ploen S R.A survey of spacecraft formation flying guidance and control.Part Ⅱ:control[C]//Proceedings of the 2004 American Control Conference,2004:2976-2985
    [8] Desai J P,Ostrowski J,Kumar V.Controlling formations of multiple mobile robots[C]//IEEE International Conference on Robotics and Automation,1998:2864-2869
    [9] Das A K,Fierro R,Kumar V,et al.A vision-based formation control framework[J].IEEE Transactions on Robotics and Automation,2002,18(5):813-825
    [10] Consolini L,Morbidi F,Prattichizzo D,et al.Leader-follower formation control of nonholonomic mobile robots with input constraints[J].Automatica,2008,44(5):1343-1349
    [11] Loria A,Dasdemir J,Alvarez Jarquin N.Leader-follower formation and tracking control of mobile robots along straight paths[J].IEEE Transactions on Control Systems Technology,2016,24(2):727-732
    [12] Wang H S,Guo D J,Liang X W,et al.Adaptive vision-based leader-follower formation control of mobile robots[J].IEEE Transactions on Industrial Electronics,2017,64(4):2893-2902
    [13] Sun Z J,Zhang G Q,Lu Y,et al.Leader-follower formation control of underactuated surface vehicles based on sliding mode control and parameter estimation[J].ISA Transactions,2018,72:15-24
    [14] 冯勇,鲍晟,余星火.非奇异终端滑模控制系统的设计方法[J].控制与决策,2002,17(2):194-198 FENG Yong,BAO Sheng,YU Xinghuo.Design method of non-singular terminal sliding mode control systems[J].Control and Decision,2002,17(2):194-198
    [15] 李升波,李克强,王建强,等.非奇异快速的终端滑模控制方法[J].信息与控制,2009,38(1):1-8 LI Shengbo,LI Keqiang,WANG Jianqiang,et al.Nonsingular and fast terminal sliding mode control method[J].Information and Control,2009,38(1):1-8
    [16] 张合新,范金锁,孟飞,等.一种新型滑模控制双幂次趋近律[J].控制与决策,2013,28(2):289-293 ZHANG Hexin,FAN Jinsuo,MENG Fei,et al.A new double power reaching law for sliding mode control[J].Control and Decision,2013,28(2):289-293
    [17] 华玉龙,孙伟,迟宝山,等.非奇异快速终端滑模控制[J].系统工程与电子技术,2017,39(5):1119-1125 HUA Yulong,SUN Wei,CHI Baoshan,et al.Study on nonsingular fast terminal sliding mode control[J].Systems Engineering and Electronics,2017,39(5):1119-1125
    [18] Kanayama Y,Kimura Y,Miyazaki F,et al.A stable tracking control method for an autonomous mobile robot[C]//IEEE International Conference on Robotics and Automation,1990:384-389
    相似文献
    引证文献
引用本文

李天龙,柏建军.基于双幂次滑模的多机器人编队控制[J].南京信息工程大学学报(自然科学版),2021,13(1):111-115
LI Tianlong, BAI Jianjun. Formation control of the multi-robot system based on dualpower sliding mode[J]. Journal of Nanjing University of Information Science & Technology, 2021,13(1):111-115

复制
分享
文章指标
  • 点击次数:
  • 下载次数:
  • HTML阅读次数:
  • 引用次数:
历史
  • 收稿日期:2020-08-31
  • 在线发布日期: 2021-03-31

地址：江苏省南京市宁六路219号    邮编：210044

联系电话：025-58731025    E-mail：nxdxb@nuist.edu.cn

南京信息工程大学学报 ® 2025 版权所有  技术支持：北京勤云科技发展有限公司