基于输入输出反馈线性化的移动机器人混合编队控制  

Hybrid formation control for mobile robots based on input-output feedback linearization

作　　者：王佳佳[1] 马磊[1] 韩晓霞[1] 徐智豪 

机构地区：[1]西南交通大学电气工程学院,四川成都611756 [2]维尔茨堡大学计算机科学学院,德国维尔茨堡9707097084

出　　处：《计算机工程与设计》2016年第2期525-529,共5页Computer Engineering and Design

基　　金：国家自然科学基金项目(61075104)

摘　　要：为实现异构轮式移动机器人的混合编队控制,在领航跟随者的结构框架下,分析差动和车式两种移动机器人的运动学模型,建立混合结构的轮式移动机器人编队系统的运动学模型,采用输入输出反馈线性化的方法,设计相应控制器,验证该控制器在特定情况下的内动态稳定性。分别在MATLAB软件平台和自主研发的多轮式移动机器人硬件平台上进行三角形编队控制实验,得到了预期的结果,验证了该设计方法的可行性和有效性。To achieve hybrid formation control of mobile robots with different kinds of structures,the kinematic equations of carlike mobile robots and mobile robots with differential rear wheels were analyzed within the structure of leader-follower.The kinematic equation of hybrid formation system was constructed.A controller was designed with input-output feedback linearization.The internal dynamics of the formation system were also verified to be stable in a particular situation.The triangle formation control was tested with both MATLAB simulation and independent developed mobile robots hardware platform.The results show the feasibility and effectivity of this design method.

关 键 词：移动机器人 混合编队 领航跟随者 输入输出反馈线性化 内动态 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]