基于滑模变结构的轮式移动机器人Leader-Follower编队控制

Wheeled mobile robots leader-follower formation control based on sliding mode variable structure

对轮式移动机器人基于Leader-Follower编队控制算法进行了研究,发现反馈线性化控制方法简单易实现,但是抗干扰能力差;滑模变结构控制具有较好的抗扰能力,然而针对机器人编队这一非线性系统,设计过程较为复杂。针对上述问题,提出将反馈线性化和滑模变结构控制相结合进行编队控制,既简化了设计滑模函数的过程,又达到了系统控制要求。仿真结果表明,该方法可以有效抑制干扰,增加系统的鲁棒性。将控制算法加入智能车平台,硬件仿真表明,该算法相对于传统滑模控制算法更加稳定,在编队控制中能达到控制要求,并在传感器较少且低控制主频的硬件平台中简单实现。

The wheeled mobile robot formation control based Leader-Follower control algontnm is investigated in this paper, and it is found that the feedback linearization control method is simple and easy to implement, but anti-interference ability, while sliding mode control has had better immunity, but as the robot kinematics model of formation is a nonlinear system, the desingning of process is more complicated. In view of this, this paper presents a method which combines the feedback linearization and sliding mode control. This method not only simplifies the design process of sliding function, but also achieves the system control requirements. The results from simulation indicate that this control method can effectively suppress interference and increases the robustness of the system. Since all of the control algorithm runs in the embedded controller, the premise of meeting with the control requirements for controller design is as simple as possible. This study adds intelligent control algorithm into car platform, so that the hardware simulation shows that this algorithm is relatively stable compared with the traditional sliding mode control method, can achieve the formation control requirements, and can use the sensor less control and low frequency of simple hardware platform to achieve.