基于领航—跟随法的多移动机器人编队控制研究

发布时间：2018-04-15 20:00

本文选题：多移动机器人系统 + 反步法　；参考：《大连海事大学》2017年硕士论文

【摘要】：随着机器人技术的快速发展,自动化产品控制功能的日渐强大,多机器人的协调合作问题已经成为一个重要的研究方向。多机器人系统相对于单个机器人具有稳定性高、并行执行能力强等优点。作为多机器人的协调合作问题的主要内容,多移动机器人的编队控制问题一直是国内外专业学者研究的热点课题。本文首先介绍了多移动机器人编队控制的研究背景和发展现状,接着介绍了编队控制的一些相关理论知识,利用反步法以及一致性理论分别设计了编队控制策略,主要的研究成果如下:1.针对多移动机器人编队控制问题,基于反步法,结合动态误差方程,提出了一个基于领航-跟随者模型的编队控制算法。减小了速度控制器的计算量并且实现了编队误差的快速收敛。2.针对反步法设计的编队控制算法存在速度突变的问题,利用分流模型的输出光滑且有界的特点,设计了改进后的编队控制算法,实现了速度控制器的平滑输出,获得了较好的控制效果。3.为了提高控制器的灵活性和容错能力,基于一致性理论,针对领航者的状态不能被所有跟随者获取的情况,设计了一个状态观测器,进而提出了一个编队控制策略,实现了编队控制的目标。利用李雅普诺夫稳定性理论以及Barbalat引理证明了上述算法的稳定性,最后通过Matlab仿真验证了算法的有效性并实现了理想的控制效果。
[Abstract]:With the rapid development of robot technology and the increasingly powerful control function of automated products, the coordination and cooperation of multi-robots has become an important research direction.Compared with a single robot, the multi-robot system has the advantages of high stability and strong parallel execution ability.As the main content of the coordination and cooperation of multi-robot, the formation control of multi-mobile robot has been a hot topic studied by domestic and foreign experts.This paper first introduces the research background and development status of formation control of multi-mobile robots, then introduces some related theoretical knowledge of formation control, and designs the formation control strategy using backstepping method and consistency theory respectively.The main research results are as follows: 1: 1.A formation control algorithm based on piloting-follower model is proposed for multi-mobile robot formation control based on backstepping method and dynamic error equation.The computation of the speed controller is reduced and the fast convergence of the formation error is realized.Aiming at the problem of sudden speed change in the formation control algorithm designed by the backstepping method, an improved formation control algorithm is designed based on the smooth and bounded output of the shunt model, and the smooth output of the velocity controller is realized.Better control effect. 3.In order to improve the flexibility and fault-tolerant ability of the controller, a state observer is designed to improve the flexibility and fault tolerance of the controller, and a formation control strategy is proposed based on the consistency theory.The target of formation control is realized.The stability of the algorithm is proved by using Lyapunov stability theory and Barbalat Lemma. Finally, the effectiveness of the algorithm is verified by Matlab simulation and the ideal control effect is realized.
【学位授予单位】：大连海事大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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