To achieve formation control of multiple snake robots,an error-constrained anti-interference path-following method is proposed in this paper.A highly coupled dynamic frequency compensator is used to adjust the motion speed of each robot to ensure consistency in the position and velocity of the formation members.In dynamic control,the singularity phenomenon of virtual variables is eliminated by the equivalent principle of barrier functions,improving the stability of path following.In addition,predictive values for model uncertainty and external interference are designed to pre-compensate for joint offsets and torque inputs of the robots,further improving the convergence rate and steady-state performance of the following errors.Finally,the Lyapunov theory is used to prove the Uniform Ultimate Boundedness(UUB)of this system.Simulation data demonstrate that the proposed method and control strategy have higher following accuracy compared to other classic methods.
维普
万方数据