摄动非完整系统全局自适应三角编队控制  

Adaptive triangle formation control of perturbed nonholonomic unicycles

作　　者：崔雯璐 王芹[1] 王浩 CUI Wenlu;WANG Qin;WANG Hao(School of Information Engineering,Yangzhou University,Yangzhou 225127,China)

机构地区：[1]扬州大学信息工程学院

出　　处：《扬州大学学报（自然科学版）》2019年第4期30-33,共4页Journal of Yangzhou University：Natural Science Edition

基　　金：国家自然科学基金资助项目(61503329,61673106)

摘　　要：为解决具有未知测量误差的非完整系统全局自适应三角编队控制问题,运用自适应方法估计未知干扰,并引入势能函数设计自适应编队控制律,使非完整系统能以指数速度收敛到唯一的平衡态,达到期望队形,且小车之间均不会发生碰撞,并通过非光滑分析理论证明了系统的全局稳定性.仿真结果验证了本文控制算法的有效性.To solve the adaptive triangle formation control problem with unknown bounded disturbances in nonholonomic unicycles,the author uses the adaptive method to estimate unknown disturbance and navigation function method to design an adaptive formation control law.The theory proves that the nonholonomic unicycles can converge to a unique equilibrium state with exponential speed to reach to an expected formation and there will be no collision between any two adjacent unicycles.The global stabilization of the formation is demonstrated by nonsmooth analysis,the simulation results show the effectiveness of the proposed control strategy.

关 键 词：三角编队 有界干扰 摄动法 指数收敛 非完整系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]