Observer-based multivariable fixed-time formation control of mobile robots  

作　　者：LI Yandong ZHU Ling and GUO Yuan 

机构地区：[1]College of Computer and Control Engineering,Qiqihar University,Qiqihar 161006,China [2]School of Mechanical and Electronic Engineering,Qiqihar University,Qiqihar 161006,China

出　　处：《Journal of Systems Engineering and Electronics》2020年第2期403-414,共12页系统工程与电子技术（英文版）

基　　金：supported by the National Natural Science Foundation of China(61872204);the Natural Science Foundation of Heilongjiang Province of China(F2015025)。

摘　　要：This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state space model of the leader-follower formation, a multivariable fixed-time formation kinematics controller is designed. Secondly, to overcome uncertainties existing in the nonholonomic mobile robot system, such as load change,friction, external disturbance, a multivariable fixed-time torque controller based on the fixed-time disturbance observer at the dynamic level is designed. The designed torque controller is cascaded with the formation controller and finally realizes accurate estimation of the uncertain part of the system, the follower tracking of reference velocity and the desired formation of the leader and the follower in a fixed-time. The fixed-time upper bound is completely determined by the controller parameters, which is independent of the initial state of the system. The multivariable fixed-time control theory and the Lyapunov method are adopted to ensure the system stability.Finally, the effectiveness of the proposed algorithm is verified by the experimental simulation.

关 键 词：MULTIVARIABLE fixed-time CONTROL formation CONTROL uncertainty fixed time OBSERVER NONHOLONOMIC mobile robot 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]