不确定移动机器人编队间接自适应模糊动力学控制

研究不确定非完整移动机器人Leader/Follower编队动力学控制问题,对Follower提出了自适应队形跟踪控制方法.首先,基于队形方程设计了运动学队形跟踪控制器,使用Backstepping技术扩展出队形跟踪误差动力学方程;然后,利用自适应模糊系统逼近其不确定项,构造了间接自适应模糊动力学队形跟踪控制器;最后,证明了队形跟踪误差可收敛到原点的小邻域内.仿真结果验证了所提出控制策略的有效性.

Indirect adaptive fuzzy dynamical formation control of uncertain mobilerobots

The Leader/Follower formation control of mobile robots with uncertain dynamical models is investigated, and
adaptive shape tracking controllers are developed for the follower. Firstly, a kinematic shape tracking controller is presented
for the follower based on the formation equation. Then the shape tracking error equation is derived with backstepping
technology and an indirect adaptive dynamical shape tracking controller is constructed by using fuzzy systems to approximate
the uncertainties. It is proved that the tracking error of the follower is uniformly ultimately bounded. Numerical simulations
show the effectiveness of the proposed control strategies.