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轮式移动机器人预定时间领导跟随一致性控制

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  • 国家科技期刊平台
  • NETL
  • NSTL
  • 万方数据
研究了轮式移动机器人的领导跟随一致性问题,提出了预定时间一致性控制算法.首先,在有向图下,为每个跟随者提出一个分布式观测器,使其在预定时间内估计领导者状态.其次,基于观测器和构造的双幂次趋近律、非线性流形,设计了一种新的控制器,使得估计的领导者状态在预定时间内被跟踪.再次,引用了一个切换协议和一个线性流形,以确保在不引起奇异性问题的情况下,控制器在任何初始条件下均能实现预定时间的领导跟随一致性.然后,通过代数图论和李雅普诺夫理论证明系统的预定时间稳定性.最后,通过仿真对比实验验证了所提算法的有效性和优越性.相较于有限时间控制器,所提控制器收敛时间不依赖于初始状态,且收敛效果更好;相较于固定时间控制器,本文控制器收敛时间设定简单,可直接通过单一参数预先设定系统收敛时间.
Predefined-time Leader-following Consensus Control for Wheeled Mobile Robots
A predefined-time consensus control approach is investigated for the leader-following consen-sus problem of wheeled mobile robot(WMR).First,under the directed graph,a distributed ob-server is proposed for each follower to estimate the leader's state in a predefined time.Second,on the basis of the observer and a constructed double power reaching law and a nonlinear manifold,a new controller is designed to track the estimated leader state in a predefined time.Moreover,a switching protocol and a linear manifold are referenced to ensure that the controller can achieve leader-following consensus for a predefined time under any initial condition without causing singu-larity problems.The predefined time stability of the system is then proved by algebraic graph theo-ry and Lyapunov theory.Finally,simulation comparison experiments verify the proposed algorithm's effectiveness and superiority.Compared with that of the finite-time controller,the convergence time of the proposed controller is independent of the initial conditions,and the convergence effect is better.Compared with that of the fixed-time controller,the convergence time setting of the pro-posed controller is simpler,and a single parameter can directly preset the system convergence time.

wheeled mobile robot(WMR)leader-following consensuspredefined-time controlconsensus controldirected graph

马小陆、谭毅波、梅宏、张睿、吴明

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安徽工业大学电气与信息工程学院,安徽马鞍山 243002

南京航空航天大学航天学院,江苏南京 210000

轮式移动机器人 领导跟随一致性 预定时间控制 一致性控制 有向图

国家自然科学基金国家自然科学基金国家自然科学基金安徽省科技重大专项安徽省高等学校自然科学研究重点项目安徽省重点研发计划特种重载机器人安徽省重点实验室开放基金

614722826217200462072002202003a05020028KJ2019A0065202004a0502001TZJQR004-2020

2024

10.13976/j.cnki.xk.2023.2505

信息与控制
中国自动化学会 中国科学院沈阳自动化研究所

信息与控制

CSTPCD北大核心
影响因子：0.576
ISSN：1002-0411
年,卷(期)：2024.53(1)
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