基于虚拟领队的不确定轮式移动机器人自适应编队控制

发布时间：2018-11-12 16:18

【摘要】：针对包含不确定动力学因素的轮式移动机器人的编队控制问题,运用虚拟领队的概念,提出一种基于径向基神经网络的自适应编队控制方法.首先通过虚拟领队的引入,将高维编队控制问题转化为单个移动机器人的跟随问题;然后,利用权值自适应变化的径向基神经网络在线估计跟随机器人不确定部分的上界值,大大简化了控制器的设计过程;最后,应用Lyapunov稳定性理论和Barbalat定理证明了闭环系统的稳定性.仿真结果表明了所提出控制策略的有效性.
[Abstract]:Aiming at the formation control problem of wheeled mobile robot with uncertain dynamic factors, an adaptive formation control method based on radial basis function neural network is proposed by using the concept of virtual leader. Firstly, the high-dimensional formation control problem is transformed into the following problem of a single mobile robot through the introduction of virtual leader. Then, the radial basis function neural network with adaptive weights is used to estimate the upper bound of the uncertain part of the robot, which greatly simplifies the design process of the controller. Finally, the stability of the closed loop system is proved by Lyapunov stability theory and Barbalat theorem. Simulation results show the effectiveness of the proposed control strategy.
【作者单位】：南阳师范学院机电工程学院;南阳师范学院石油装备与智能化控制河南省工程实验室;重庆邮电大学自动化学院;
【基金】：国家自然科学基金河南联合基金项目(U1404614);国家自然科学基金青年基金项目(61503202) 河南省科技攻关项目(152102210336) 河南省高等学校重点研究项目(17A413002,14B120003)
【分类号】：TP242

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