多机器人的积分滑模编队控制

以一组非完整约束两轮机器人为研究对象,提出了具有非匹配不确定性的移动机器人系统的积分滑模编队控制。在单个机器人运动学模型的基础上,考虑机器人自身参数变化、打滑和侧移等不确定性的影响,采用领航-跟随机制,建立了编队系统的动力学模型。该动力学模型含有非匹配不确定性,无法应用积分滑模控制的不变性抑制。在合理的假设下,从理论上证明了具有非匹配不确定的编队系统在滑模阶段具有局部渐近稳定性;证明了提出的积分滑模编队控制律能够保证滑模的可达性条件。最后以三个机器人组成仿真实验平台,验证了在非匹配不确定性的了积分滑模编队控制方法的有效性及可行性。

Formation control of multi-robot via integral sliding mode

A group of nonholonomic two-wheeled mobile robots were studied. The method of integral slid-ing mode control ( ISMC ) was investigated for the formation problem of the group of robots with mis-matched uncertainties. Taking the effects of uncertainties ( parameter fluctuations, skidding and slipping) into accounts, the leader-follower formation dynamic model was established on the basis of the kinematic model of a single robot. Since the mismatched uncertainties in this dynamic model cannot be suppressed by the invariance of ISMC, the formation system was theoretically proven to be locally asymptotically sta-ble in the sliding mode stage. Meanwhile, the reaching condition of sliding mode was guaranteed by the developed ISMC law. Finally, a simulation platform composed of three robots verifies the feasibility and effectiveness of the ISMC strategy applied to the mobile robot formation system.