具有速度约束的多移动机器人固定时间编队  

Fixed-time formation of multiple mobile robots with velocity constraint

作　　者：焦建芳 郑智慧 包端华 JIAO Jianfang;ZHENG Zhihui;BAO Duanhua(Department of Automation,North China Electric Power University,Baoding 071003,Hebei China)

机构地区：[1]华北电力大学自动化系,河北保定071003

出　　处：《华中科技大学学报（自然科学版）》2024年第11期125-132,共8页Journal of Huazhong University of Science and Technology(Natural Science Edition)

基　　金：中央高校基本科研业务费专项资金资助项目(2022MS098);河北省自然科学基金青年资助项目(F2019502143)。

摘　　要：针对多移动机器人编队系统在外界扰动和系统模型不确定性影响下,收敛时间无法确定及速度约束问题,提出一种能够约束速度误差的抗扰动虚拟领航者编队控制策略.首先,将移动机器人系统模型分为运动学及动力学两部分,建立双闭环控制结构;其次,根据虚拟领航者及编队构型得到轨迹跟踪误差,设计固定时间运动学滑模控制律;然后,通过提出的固定时间干扰观测器在固定时间内对集总扰动进行准确估计;在此基础上,为限制速度误差在合理范围内,结合障碍李雅普诺夫函数设计了固定时间动力学控制律;最后,对两个移动机器人的编队进行了仿真来验证所提算法的有效性.研究结果表明:所提出的控制策略能够使得编队系统在固定时间内收敛,且收敛时间与系统初始状态无关.Aiming at the problems of uncertain convergence time and velocity constraint in the formation system of multiple mobile robots under the influence of external disturbances and system model uncertainty,an anti-disturbance virtual navigator formation control strategy capable of constraining velocity error was proposed.First,the mobile robot system model was divided into two parts,which were kinematics and dynamics,and a double closed-loop control structure was established.Subsequently,according to the virtual navigator and formation configuration,the trajectory tracking error was obtained,and a fixed time kinematic sliding mode control law was designed.Then,a fixed time disturbance observer was used to accurately estimate the lumped disturbance in a fixed time.On this basis,to limit the velocity error within a reasonable range,a fixed time dynamic control law was designed using the barrier Lyapunov function,Finally,the effectiveness of the algorithm was verified by formation simulation of two mobile robots.Research results show that the proposed control strategy can enable the formation system to converge within a fixed time,and the convergence time is independent of the initial state of the system.

关 键 词：多移动机器人 虚拟领航者 干扰观测器 固定时间控制 障碍李雅普诺夫函数 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]