基于Backstepping的三轮机器人编队控制  

Formation Control of Three Wheeled Robots Based on Backstepping

作　　者：于美妍 杨洪勇[1] 孙玉娇 YU Meiyan;YANG Hongyong;SUN Yujiao(School of Information and Electrical Engineering, Ludong University, Yantai 264025, China)

机构地区：[1]鲁东大学信息与电气工程学院,山东烟台264025

出　　处：《复杂系统与复杂性科学》2021年第3期28-34,共7页Complex Systems and Complexity Science

基　　金：国家自然科学基金(61673200,61903172);山东省科学基金(ZR2018ZC0438);烟台市重点研发项目(2019XDHZ085)。

摘　　要：针对具有非完整特性的三轮机器人的路径轨迹跟踪控制问题,使用Backstepping方法,提出一种多机器人协同编队控制策略。首先将基于领航—跟随模式的系统编队问题转变成跟随机器人对各自虚拟领航者的运动轨迹追踪问题,进而得到系统位姿误差运动学方程;然后运用Backstepping方法构建非线性系统的机器人协同编队控制策略,应用Lyapunov函数等知识对机器人动力学系统分析得出,多机器人系统运行稳定,可以实现编队控制。最后通过仿真实验验证了编队方法的可行性。To solve the problem of path tracking control for three wheeled robots with nonholonomic dynamics characteristics,a multi robot cooperative formation control strategy is proposed by using Backstepping method.Firstly,the formation problem of multi robot system which based on pilot following mode is transformed into the problem of tracking the virtual leader's trajectory by following robot,and then the differential equation of pose error of multi robot system kinematics is obtained;then,the Backstepping method is used to construct the robot cooperative formation control strategy of nonlinear system.Lyapunov function and other knowledge are applied to analyze the robot dynamic system.It is concluded that the multi robot system is stable and can realize formation control.Finally,we verify the availability of the formation method through simulation experiments.

关 键 词：三轮机器人 BACKSTEPPING 虚拟领航者 编队控制 非线性系统 

分 类 号：TP[自动化与计算机技术]