基于模糊滑模的多机器人系统编队控制

Formation control of multi-robot systems in a fuzzy sliding mode

针对多机器人编队控制问题,提出了一种滑模控制与模糊逻辑相结合的控制方法。运用领航—跟随法,建立机器人系统的动力学模型。该模型具有不确定性,在不确定性上界未知的假设条件下,运用模糊逻辑,设计模糊补偿器,以逼近系统的不确定性部分。基于Lyapunov理论,证明所设计的模糊滑模编队控制系统具有渐近稳定性,同时模糊补偿器的逼近误差是收敛的。仿真结果表明,该方法可使多机器人系统迅速地形成所期望的队形,并在运动中保持该队形。

To resolve the formation problem resulting from a swarm of robots, a control scheme is proposed based on sliding mode control and fuzzy logic. A formation dynamic model is established utilizing the leader - follower ap- proach. The model is subject to uncertainties. If the upper bounds of these uncertainties are unknown, then a fuzzy compensator can be adopted to approximate the uncertainties. From an Lyapunov approach, not only is the sliding- mode-based formation control system asymptotically stable, but the approximate error of the fuzzy compensator is al- so convergent. The simulation results demonstrate that the robots can rapidly form and maintain the desired specified geometrical shades during movement.