期刊文献+
任意字段
题名或关键词
题名
关键词
文摘
作者
第一作者
机构
刊名
分类号
参考文献
作者简介
基金资助
栏目信息

不确定移动机器人编队间接自适应模糊动力学控制 被引量：10

Indirect adaptive fuzzy dynamical formation control of uncertain mobile robots
原文传递
导出
摘要 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. 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.
作者 吴孔逸 霍伟
机构地区 北京航空航天大学第七研究室
出处 《控制与决策》 EI CSCD 北大核心 2010年第12期1769-1774,1781,共7页 Control and Decision
基金 北京市教委共建重点学科基金项目(XK100060422)
关键词 移动机器人 编队控制 模糊系统 自适应控制 Mobile robots Formation control Fuzzy systems Adaptive control
分类号 TP273 [自动化与计算机技术—检测技术与自动化装置]
  • 相关文献

参考文献16

  • 1Scharf D, Hadaegh F, Ploen S. A survey of space formation flying guidance and control, Part II: Control[J]. Proc of American Control Conf. NewYork: IEEE, 2004: 1-13.
  • 2Wang P. Navigation strategies for multiple autonomous mobile robots moving in formation[J]. J of Robotic Systems, 1991, 8(2): 177-195.
  • 3Desai J, Ostrowski J, Kumar V. Controlling formations of multiple mobile robots[C]. Proc of IEEE Int Conf on Robotics and Automation. NewYork: IEEE, 1998: 2864- 2869.
  • 4Jadbabaie A, Lin J, Morse A. Coordination of groups of mobile autonomous agents using nearest neighbor rules[J]. IEEE Trans on Automatic Control, 2003, 48(6): 988-1001.
  • 5Tanner H, Jadbabaie A, Pappas G. Coordination of multiple autonomous vehicles[C]. Proc of Mediterranean Conf on Control and Automation. NewYork: IEEE, 2003: 1303- 1308.
  • 6Tan K, Lewis M. Virtual structures for high-precision cooperative mobile robotic control[C]. Proc of IEEE/RSJ Int Conf on Intelligent Robots and Systems. NewYork: IEEE, 1996: 132-139.
  • 7Das A, Fierro R, Kumar V. A vision based formation control framework[J]. IEEE Trans on Robotics and Automation, 2002, 18(5): 813-825.
  • 8Dierks T, Jagannathan S. Control of nonholonomic mobile robot formations: Backstepping kinematics into dynamics[C]. Proc of IEEE Int Conf on Control Applicationa, Part of IEEE Multi-conference on Systems and Control. NewYork: IEEE, 2007: 94-99.
  • 9Dierks T, Jagannathan S. Control of nonholonomic mobile robot formations using neural networks[C]. Proc of IEEE Int Symposium on Intelligent Control, Part of IEEE Multi- conference on Systems and Control. NewYork: IEEE, 2007: 132-137.
  • 10Dierks T, Jagannathan S. Asymptotic stability of nonholonomic mobile robot formations using multilayer neural networks[C]. Proc of IEEE Conf on Decision and Control. NewYork: IEEE, 2007: 1944-1950.

同被引文献80

引证文献10

二级引证文献41

控制与决策
2010年 第12期

相关作者

内容加载中请稍等...

相关机构

内容加载中请稍等...

相关主题

内容加载中请稍等...

浏览历史

内容加载中请稍等...
;
使用帮助 返回顶部