采样数据交互的异构非完整轮式机器人集群连通保持切换编队控制  

Connectivity-preserving switching formation control of heterogeneous nonholonomic wheeled robots with sampled-data interaction

作　　者：陈晨 殷诗雨 邱星星 邹文成 向峥嵘[1] Chen Chen;Yin Shiyu;Qiu Xingxing;Zou Wencheng;Xiang Zhengrong(School of Automation,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学自动化学院,江苏南京210094

出　　处：《南京理工大学学报》2024年第5期615-625,634,F0002,共13页Journal of Nanjing University of Science and Technology

基　　金：国家自然科学基金(62373191,62303224);江苏省自然科学基金(BK20230920)。

摘　　要：轮式移动机器人作为一种体积小巧、操作灵活的机器人,广泛应用于工业、农业等领域。考虑到实际情况中,机器人间能够互相交流信息的通讯范围通常是有限制的,且存在非线性、非完整约束等特点,因此针对通讯范围受限的轮式移动机器人编队控制问题的研究很有价值。面对复杂的任务和环境,需要多种机器人的配合,因此该文研究了异构的非完整轮式移动机器人集群,构建了一种采样数据交互模式。采样数据虚拟框架为实际机器人系统提供参考轨迹,降低了机器人之间的通讯要求,不再需要时刻保持通讯。采用含预设性能的控制方法设计了实际机器人的控制器,保证机器人的跟踪误差满足工程应用中期望的稳态性能与瞬态性能要求。最后,通过数值仿真和机器人操作系统(ROS)物理仿真实验验证了所设计控制协议的有效性。Wheeled mobile robots,being compact and flexible,are widely used in industry,agriculture and other fields.Considering the practical situations where the communication range between robots is usually limited and there are nonlinear and nonholonomic constraints,the study on formation control of wheeled mobile robots with limited communication range is valuable.Facing complex tasks and environments,the cooperation of various robots is required.Therefore,this paper studies heterogeneous nonholonomic wheeled mobile robots and develops a sampled-data interaction model.The sampled-data virtual framework provides reference trajectories for the actual robot system,reducing the communication requirements between robots,thus eliminating the need for constant communication.The controller for the actual robot is designed using a control method with prescribed performance,ensuring that the tracking error of the robot meets the desired steady-state and transient performance requirements in engineering applications.Finally,the effectiveness of the designed control protocol is verified through numerical simulations and robot operating system(ROS)physical simulation experiments.

关 键 词：轮式移动机器人 连通保持一致性 编队控制 预设性能控制 采样数据控制 滑模控制 

分 类 号：TP13[自动化与计算机技术—控制理论与控制工程]