具有死区输入的多机器人系统角度刚性编队控制  

Bearing-rigid formation control for multi-robot systems with dead zone input

作　　者：陆薪屹 王芹[1] 王恩赐 潘祯颀 裔扬[1] LU Xinyi;WANG Qin;WANG Enci;PAN Zhenqi;YI Yang(School of Information Engineering,Yangzhou University,Yangzhou 225127,China)

机构地区：[1]扬州大学信息工程学院,江苏扬州225127

出　　处：《扬州大学学报（自然科学版）》2022年第5期61-65,78,共6页Journal of Yangzhou University：Natural Science Edition

基　　金：国家自然科学基金资助项目(61973266,61873346,61873229).

摘　　要：针对具有死区输入的多机器人系统角度刚性编队控制问题,首先引入自适应估计削弱非线性死区输入对编队系统性能的影响,再采用势能函数方法设计基于角度信息的分布式编队控制策略;其次,通过设计合适的控制器,避免控制过程中出现的控制器奇异性问题.利用Lyapunov方法验证多机器人系统可达到期望的编队形状,并证明角度刚性编队系统的全局稳定性.仿真结果表明自适应角度编队控制算法是有效的.The bearing-rigid formation control for multi-robot systems with dead zone input is considered in this paper.Firstly,adaptive estimation is introduced to reduce the influence of nonlinear dead zone input on the performance of formation system.A distributed formation control strategy based on relative bearing information is designed by using potential energy function method.Then,the controller singularity problems are avoided by designing suitable controllers.Lyapunov method is used to prove that the multi-robot system achieves the desired formation shape,and the global stability of the bearing-rigid formation system is proved.Simulation results verify the effectiveness of the adaptive bearing-rigid formation control algorithm.

关 键 词：非线性死区 角度刚性编队 自适应控制 全局稳定性 LYAPUNOV方法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]