| 多机器人系统的编队路径跟踪控制 |
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| 引用本文： | 贾秋玲,李广文,闫建国. 多机器人系统的编队路径跟踪控制[J]. 机械科学与技术, 2007, 26(8): 1035-1038 |
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| 作者姓名： | 贾秋玲 李广文 闫建国 |
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| 作者单位： | 西北工业大学,自动化学院,西安,710072;西北工业大学,自动化学院,西安,710072;西北工业大学,自动化学院,西安,710072 |
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| 摘 要： | 介绍了一种多机器人系统的编队路径跟踪控制方法。首先将非完整约束机器人的动态方程转化为跟随者和领航员间相对运动模型,克服了非完整约束机器人结构奇异的缺点。随后将滑模控制方法应用于多机器人系统中,分别设计了领航员跟踪希望路径的滑模控制律和跟随者跟踪领航员的滑模控制律。算例仿真表明了应用本文介绍的编队路径跟踪控制律,各机器人能够较快地形成希望的编队,并按希望队形跟踪希望路径。仿真结果验证了此控制方法的有效性。
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| 关 键 词： | 多机器人系统 非完整约束 编队路径跟踪 滑模控制 |
| 文章编号： | 1003-8728（2007）08-1035-04 |
| 修稿时间： | 2006-09-18 |
Formation Path Tracking Control of a Multi-robot System |
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| Jia Qiuling,Li Guangwen,Yan Jianguo. Formation Path Tracking Control of a Multi-robot System[J]. Mechanical Science and Technology for Aerospace Engineering, 2007, 26(8): 1035-1038 |
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| Authors: | Jia Qiuling Li Guangwen Yan Jianguo |
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| Abstract: | We transform the dynamic equation of robots with nonholistic constraints into the model of relative movement between a leader robot and a follower robot, thus overcoming the shortcomings of their structural singularity. Then we apply the sliding mode control method to the multi-robot system and design the sliding mode control laws for the leader robot to track the desired path and the follower robot to follow the leader robot respectively. Numerical simulation results indicate that our formation path tracking control laws help every robot to promptly form a desired formation and then follow the desired path with the formation. The simulation results verify the effectiveness of the control laws. |
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| Keywords: | multi-robot system nonholistic constraint formation path tracking sliding mode control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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