打滑状态下的多机器人编队控制

Multirobot Formation Control under Slipping Condition

讨论打滑状态下的多机器人编队控制器设计问题。打滑现象会使机器人偏离正常的运动轨迹,导致基于理想环境设计的控制器控制效果变差,甚至发生机器人失控的现象。考虑打滑因素的控制算法能使机器人适应更一般的环境,增强机器人的实际可用性。采用领导者-跟随者策略来协调各机器人的运动。领导者机器人的运动规律根据任务需要事先设定,随后控制跟随者机器人以一定距离和角度跟随领导者机器人运动。根据机器人的运动特性导出单机器人在打滑情况下的运动规律,并据此导出两机器人以距离-角度模型形成编队的方程。采用二阶滑模控制法来为跟随者机器人设计控制器,使得两机器人在运动过程中能够形成期望的队形。以Matlab仿真来验证算法的有效性。理论推导及仿真结果说明,导出的编队模型能够准确描述机器人在有打滑情况时的运动规律,二阶滑模编队算法具有较好的抗干扰能力,适用性强。

The problem of how to design a controller for multirobot to form a formation under a slipping condition is discussed. The slipping phenomenon would lead the robot to deviate from its normal trajectory, and lead the performance of a controller designed under an idea condition to become worse, or even lead the robot to run out of control. Robot can adaptive a more common environment under a control algorithm proposed with the considering of the affection of slipping, and this algorithm can enhance the robot＇s practical applications. The leader-follower based strategy is selected to coordinate the robots＇ movement. The leader robot＇s trajectory should be designed according to the task beforehand, and the follower robots are steered to follow the leader robot for some distance and bearing angle. Some dynamic equations of a single robot under a slipping condition are deduced according to the robot＇s character, and according which a two-robot formation equation is derived based on the distance-angle model. A formation controller is proposed based on the second order sliding mode control algorithm, which forces the two robots to form a desired formation. Matlab simulations are presented to valid the algorithm proposed. Theory deduction and simulation results illustrate that the formation model proposed can describe the dynamics of the robots under a slipping condition accurately, and the second order sliding mode formation algorithm has good performance in anti-disturbance and applications.