非完整移动机器人编队的滑模控制  

Sliding Mode Control for Nonholonomic Mobile Robot Formation

作　　者：俞辉[1] 王永骥[1] 徐建省[1] 

机构地区：[1]华中科技大学控制科学与工程系

出　　处：《机器人》2006年第4期428-432,共5页Robot

基　　金：国家自然科学基金资助项目(60274020);国家自然科学基金国际合作项目(60340420431)

摘　　要：提出了一个非线性滑模控制器,协调一组非完整移动机器人以取得合乎要求的编队.考虑了两个机器人组成的领航者—跟随者机器人模型,通过滑模控制使它们沿预定的轨迹运动并保持预定的相对距离、方位角及运动方向.运用传统的李亚普诺夫理论研究了闭环系统的稳定性.在合理的假设下,从理论上证明了存在有界干扰情形下机器人编队的渐近稳定性,即所设计的滑模控制器使得相对距离误差、方位角误差及运动方向误差渐近稳定.最后,给出了两台机器人情形的数值仿真例子来验证该方法的有效性.A nonlinear sliding mode controller is proposed to coordinate a group of nonholonomic mobile robots so that a desired formation can be achieved. By using sliding mode control approaches, we consider a two-vehicle team in leaderfollower configuration that is required to follow a prescribed trajectory while maintaining a desired relative distance, relative bearing angle and heading orientation. Stability of the closed-loop system are studied using classical Lyapunov theory. We prove theoretically that under certain reasonable assumptions the formation is asymptotically stable even with bounded disturbances; that is, the proposed sliding mode controller can asymptotically stabilize the errors in relative distance, relative bearing and heading direction, respectively. Finally, a numerical simulation example is given for the two-robot case to verify the validity of our approach.

关 键 词：非完整机器人 机器人编队 滑模控制 领航者一跟随者 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]