非完整多机器人系统有限时间事件触发编队控制  

Finite-time Event-triggered Formation Control for Nonholonomic Multi-robot Systems

作　　者：董世杰 李克文 李永明 DONG Shijie;LI Kewen;LI Yongming(College of Electrical Engineering,Liaoning University of Technology,Jinzhou 121001,China;College of Science,Liaoning University of Technology,Jinzhou 121001,China)

机构地区：[1]辽宁工业大学电气工程学院,辽宁锦州121001 [2]辽宁工业大学理学院,辽宁锦州121001

出　　处：《控制工程》2025年第4期602-613,共12页Control Engineering of China

基　　金：国家自然科学基金资助项目(U22A2043,61822307)。

摘　　要：在网络通信资源有限和执行器存在饱和的情况下,保证非完整多机器人编队跟踪轨迹、保持连通性和避碰是难点问题。为此,提出了一种自适应动态事件触发编队控制方法。首先,利用模糊逻辑系统逼近机器人动力学中的未知函数,基于反步法和动态面技术,提出模糊自适应控制方案。其次,利用障碍函数和预设性能方法实现多机器人之间保持连通性和避碰,并在执行器饱和限制下设计动态事件触发机制,使控制器的执行次数更少,进一步减轻控制器到执行器的通信负担。最后,仿真结果证明了所提方法的有效性。In the case of limited network communication resources and actuator saturation,it is difficult to ensure trajectory tracking,communication maintenance and collision avoidance for the nonholonomic multi-robot formation.Therefore,an adaptive dynamic event-triggered formation control method is proposed.Firstly,the fuzzy logic systems are employed to approximate the unknown functions in robot dynamics,and a fuzzy adaptive control scheme is proposed based on the backstepping method and dynamic surface technology.Secondly,the barrier function and the prescribed performance approach is used to realize the communication maintenance and collision avoidance between multiple robots,and the dynamic event-triggered mechanism is designed with saturated actuator to reduce the execution number of the controllers and further reduce the communication burden from controllers to actuators.Finally,simulation results demonstrate the effectiveness of the proposed method.

关 键 词：非完整机器人编队 动态事件触发机制 模糊自适应控制 连通性 避碰 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]