| 基于双幂次滑模的多机器人编队控制 |
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| 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,2021,13(1):111-115. |
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| 作者姓名： | 李天龙 柏建军 |
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| 作者单位： | 浙江机电职业技术学院 现代信息技术学院, 杭州, 310053,杭州电子科技大学 自动化(人工智能)学院, 杭州, 310018 |
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| 基金项目： | 国家自然科学基金（61773146，61973102，61703132） |
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| 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.
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| 关 键 词： | 多机器人编队 领航跟随 双幂次趋近律 |
| 收稿时间： | 2020/8/31 0:00:00 |
Formation control of the multi-robot system based on dualpower sliding mode |
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| LI Tianlong and 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. |
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| Authors: | LI Tianlong and BAI Jianjun |
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| Affiliation: | School of Modern Information Technology, Zhejiang Institute of Mechanical and Electrical Engineering, Hangzhou 310053 and School of Automation(Artificial Intelligence), Hangzhou Dianzi University, Hangzhou 310018 |
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| 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. |
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| Keywords: | multi-robot formation leader follower dual power reaching law |
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