Aiming at the complex nonlinear model of horizontal and longitudinal coupling and the large control error of distributed cooperative formation system of unmanned vehicles on the ground,the control technology of distributed cooperative formation of unmanned vehicles on the ground is studied.Firstly,the multi-agent consistent cooperative control framework is constructed,and the vehicle nonlinear kinematics,communication topology,formation error and vehicle formation prediction models are established.Secondly,a distributed model predictive controller with multi-objective optimization is proposed,in which each vehicle only needs to obtain the predicted state of its neighboring vehicles once in a single control cycle.Then,in order to further optimize the cost of formation communication to improve the controller,a distributed model predictive formation controller based on self-triggering mechanism is implemented.Finally,the simulation test of the controller based on ROS and V-rep is carried out.The simulation results show that the self-triggered distributed model predictive controller has good stability and control accuracy,and can realize formation control with small error.
关键词
无人驾驶车辆/多车编队/分布式模型预测控制/协同控制/自触发机制/控制精度
Key words
Unmanned Vehicles/Multi-vehicle Formations/Distributed Model Predictive Control/Collaborative Control/Self-triggering Mechanism/Control Precision
维普
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