Robust Leader-follower Formation Control of Mobile Robots Based on a Second Order Kinematics Model

在这份报纸，我们学习为活动机器人的领导人追随者形成建模并且控制的问题。首先，为领导人追随者机器人形成的一个新奇 kinematics 模型基于在机器人和追随者机器人的本地运动之间的相对运动状态被提出。用这个模型，向心的亲戚和在机器人之间的 Coriolis 加速被测量相对、本地的运动传感器直接计算，并且利用了线性化非线性的系统方程。一个形成控制器，由反馈 linearization 部分和一个滑动模式赔偿者组成，被设计包括内部动力学稳定全面系统。控制获得被解决坚韧性不平等决定并且假定满足保证形成系统的零动力学的稳定性的一个合作协议。建议控制器为追随者机器人产生命令的加速并且使形成控制系统柔韧到领导人机器人的无节制的加速的效果。而且，一个柔韧的适应控制器被开发在系统处理参量的无常。模拟和试验性的结果表明了建议控制方法的有效性。

In this paper, we study the problem of modeling and controlling leader-follower formation of mobile robots. First, a novel kinematics model for leader-follower robot formation is formulated based on the relative motion states between the robots and the local motion of the follower robot. Using this model, the relative centripetal and Coriolis accelerations between robots are computed directly by measuring the relative and local motion sensors, and utilized to linearize the nonlinear system equations. A formation controller, consisting of a feedback linearization part and a sliding mode compensator, is designed to stabilize the overall system including the internal dynamics. The control gains are determined by solving a robustness inequality and assumed to satisfy a cooperative protocol that guarantees the stability of the zero dynamics of the formation system. The proposed controller generates the commanded acceleration for the follower robot and makes the formation control system robust to the effect of unmeasured acceleration of the leader robot. Furthermore, a robust adaptive controller is developed to deal with parametric uncertainty in the system. Simulation and experimental results have demonstrated the effectiveness of the proposed control method.