| 递阶式虚拟结构非完整机器人的编队控制 |
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| 引用本文： | 袁健,张文霞.递阶式虚拟结构非完整机器人的编队控制[J].汕头大学学报(自然科学版),2010,25(2):42-50. |
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| 作者姓名： | 袁健 张文霞 |
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| 作者单位： | 1. 中国海洋大学信息科学与工程学院,山东,青岛,266100
2. 青岛理工大学琴岛学院机电系,山东,青岛,266016 |
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| 摘 要： | 提出一种递阶虚拟结构编队控制方法,将机器人编队按空间分布划分为簇,并定义某段时间内该簇(虚拟结构)的参考轨迹,将虚拟结构的运动转化为各机器人的期望轨迹,然后基于反步思想,并通过设计移动机器人误差跟踪系统的Lyapunov函数来设计动态反馈控制器,实现了对参考轨迹的全局渐近跟踪.最后通过对给定直线和圆轨迹的编队跟踪试验,验证了该控制策略的有效性.
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| 关 键 词： | 移动机器人 编队控制 递阶式虚拟结构 跟踪控制 |
Formation Control for Mobile Nonholonomic Multi-Robots with Hierarchical Virtual Structure |
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| YUAN Jian,ZHANG Wen-xia.Formation Control for Mobile Nonholonomic Multi-Robots with Hierarchical Virtual Structure[J].Journal of Shantou University(Natural Science Edition),2010,25(2):42-50. |
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| Authors: | YUAN Jian ZHANG Wen-xia |
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| Institution: | 1.College of Information Science ＆ Engineering,Ocean University of China,Qingdao 266100,Shandong,China;2.Mechanical ＆ Electrical Engineering Department,Qindao College,Qingdao 266016,Shandong,China) |
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| Abstract: | The formation control problem of mobile nonholonomic multi-robots is investigated.A formation control structure with hierarchical Virtual Structure is proposed.The mobile robots are divided into some clusters according to their distributions in space and motion trajectory of every cluster（virtual structure）.The motion of virtual structure is transformed to desired trajectory of every robot.A Lyapunov function of the error tracking system is constructed based on the backstepping method to design dynamic feedback tracking controller.The tracking controller can make the trajectory of every mobile robot globally and asymptotically track a desired trajectory.Finally,formation simulations considering line and circle shape are carried out and the numerical simulation results show the effectiveness of the proposed control scheme. |
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| Keywords: | nonholonomic mobile robot formation control hierarchical virtual structure tracking control |
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