事件触发策略下多移动机器人抗干扰固定时间编队控制  

Anti-Disturbance Fixed-Time Formation Control of Multi-Mobile Robots via Event-Triggered Mechanism

作　　者：王健安[1,2] 闫慧娴 赵志诚 WANG Jian-an;YAN Hui-xian;ZHAO Zhi-cheng(College of Electronics Information Engineering,Taiyuan University of Science and Technology,Taiyuan,Shanxi 030024,China;Shanxi Key Laboratory of Advanced Control and Equipment Intelligence,Taiyuan,Shanxi 030024,China)

机构地区：[1]太原科技大学电子信息工程学院,山西太原030024 [2]先进控制与装备智能化山西省重点实验室,山西太原030024

出　　处：《电子学报》2023年第5期1256-1265,共10页Acta Electronica Sinica

基　　金：山西省重点研发计划(国际科技合作)项目(No.201903D421045);山西省重点研发计划项目(No.202102020101002);山西省基础研究计划面上项目(No.20210302123210,No.20210302122427,No.201901D111265);山西省科技重大专项(No.20191102009);山西省研究生教育创新计划项目(No.2021Y682)。

摘　　要：为节约有限通信资源,针对不确定多移动机器人系统的编队控制问题,提出一种基于抗干扰观测器的事件触发固定时间编队控制方法.首先,设计了一类自适应固定时间滑模干扰观测器(Adaptive Fixed-time Sliding Mode Disturbance Observer,AFSMDO),用来估计系统模型参数不确定和未知扰动.其次,在干扰观测器的基础上,结合反步法和固定时间理论,引入事件触发机制,设计固定时间分布式编队控制器,实现多机器人系统固定时间编队且收敛时间不依赖于系统初始状态,并经理论推导无Zeno行为.最后,通过对三个移动机器人进行编队仿真研究,验证了方法的有效性.For the formation control problem of uncertain multi-mobile robot system,to save limited communication resources,an event-triggered fixed-time formation control method is proposed based on anti-disturbance observer.Firstly,an adaptive fixed-time sliding mode disturbance observer(AFSMDO)is developed to estimate model parameter uncertainty and unknown disturbance.Then,on the basis of the designed disturbance observer,combined with backstepping and fixed-time theory,as well as introducing event-triggered mechanism,a fixed-time distributed formation control method is de-signed to achieve formation task.The setting-time is independent on the system’s initial system state.The Zeno behavior is excluded through theoretical analysis.Finally,the numerical simulations of three mobile robots are studied to verify the ef-fectiveness of the proposed methods.

关 键 词：移动机器人 干扰观测器 编队控制 有限通信资源 固定时间 事件触发 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]