单路径导引的车式移动机器人协同编队控制  

Coordinated formation control of car-like mobile robots guided by parameterized single path

作　　者：王常顺 王丹[1] 彭周华 WANG Chang-shun;WANG Dan;PENG Zhou-hua(School of Marine Electrical Engineering,Dalian Maritime University,Dalian Liaoning 116000,China;School of Information Science and Electrical Engineering,Shandong Jiaotong University,Jinan Shandong 250357,China)

机构地区：[1]大连海事大学船舶电气工程学院,辽宁大连116000 [2]山东交通学院信息科学与电气工程学院,山东济南250357

出　　处：《控制理论与应用》2021年第7期1124-1132,共9页Control Theory & Applications

基　　金：国家自然科学基金项目(51979020,52071044,61803230)资助。

摘　　要：针对含有模型不确定性和未知外部扰动的车式移动机器人集群,本文设计了一种分布式协同编队控制器,通过单条参数化路径导引,实现了车式移动机器人协同编队运动.本文首先在运动学层级设计了基于领航–跟随策略的队形制导律和路径更新律,其次在动力学层级设计了前向速度和姿态角控制律,通过线性扩张状态观测器估计并补偿系统模型中的非线性部分,消除参数摄动和外部扰动造成的不利影响,然后通过级联系统理论证明了闭环系统的输入到状态稳定性,最后通过数字仿真和加热机群实验结果验证了本文控制器的有效性.In this paper,a distributed coordinated formation controller is proposed for a platoon of car-like mobile robots(CLMRs)moving along parameterized single path,which are subject to model uncertainties and unknown external disturbances.On the kinematics level,leader-follower-based distributed formation guidance laws and path update laws are designed to follow the path with desired velocity.Then,the longitudinal velocity and heading angle control laws are developed on the kinetic level.The nonlinear term is estimated by linear extended state observer(LESO),such that the model uncertainties and unknown external disturbances are compensated and the unfavorable influences are mitigated.The input-to-state stability of the closed-loop system is established via cascade theory.Finally,the effectiveness of the proposed controller is verified via simulation results and experiments on the hot-in-place preheater vehicles.

关 键 词：车式移动机器人 协同编队控制器 线性扩张状态观测器 级联系统稳定性 

分 类 号：U418.32[交通运输工程—道路与铁道工程] TP273[自动化与计算机技术—检测技术与自动化装置] TP242[自动化与计算机技术—控制科学与工程]