切换拓扑下多舞台移动机器人编队容错跟踪控制  

Fault-tolerant tracking control of multi-stage mobile robot formation in switching topology

作　　者：倪洪杰[1] 朱俊威 俞立[1] 禹鑫燚[1] Ni Hongjie;Zhu Junwei;Yu Li;Yu Xinyi(College of Information Engineering, Zhejiang University of Technology, Hangzhou 310023)

机构地区：[1]浙江工业大学信息工程学院,杭州310023

出　　处：《高技术通讯》2020年第8期844-852,共9页Chinese High Technology Letters

基　　金：国家重点研发计划项目(2018YFB1403702);浙江省重点研发计划项目(2017C03060)资助。

摘　　要：本文针对切换拓扑下多舞台移动机器人编队系统,提出了一种基于分布式中间观测器的容错跟踪控制方法。首先将不确定性量分解为匹配分量和不匹配分量,继而通过分布式中间观测器来估计由执行器、领航机器人的非零输入以及匹配不确定性分量构成的组合未知输入信号,进而设计基于估计值的容错跟踪控制协议对匹配未知输入进行有效补偿,同时通过调节特定参数充分抑制不匹配不确定性效应,最终得到满意的容错跟踪控制性能。A fault-tolerant tracking control method based on distributed intermediate observer is proposed for multi-stage mobile robot formation system with switching topology.Firstly,the uncertainties are decomposed into matched and mismatched components.Secondly,the combined unknown input signals composed of actuator,pilot’s non-zero input and matched uncertain components are estimated by distributed intermediate observer.Then,a fault-tolerant tracking control protocol based on the estimated values is designed to match unknown input.At the same time,by adjusting the specific parameters,the mismatch uncertainty effect is fully suppressed,and the satisfactory fault-tolerant tracking control performance is finally obtained.

关 键 词：舞台移动机器人 切换拓扑 故障容错 协同控制 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]