基于RISE的多移动机器人渐近轨迹跟踪控制

Asymptotic Tracking Control of Multiple Mobile Robots Based on RISE

针对目前多移动机器人轨迹跟踪控制精度不高的问题,基于RISE(robust integral of signum of error)方法提出了一种渐进轨迹跟踪控制算法。首先,建立了差速机器人的动力学模型,并进行系统解耦及反馈线性化,得到一般的二阶系统模型;其次,对多机器人系统,基于RISE方法提出了对二阶可导且有界的时变信号的跟踪算法,实现领导者输入未知的情况下对时变信号的渐进轨迹跟踪。且该算法基于分布式结构,机器人无需知道全局状态信息。另外,应用李雅普诺夫稳定性理论、代数图论的方法证明了算法的稳定性,并给出系统稳定必要条件。在文章最后,给出了仿真实例和实验数据,证明了算法有效性。

Aiming at the problem of the poor tracking accuracy of multi-mobile robots, a progressive trajectory tracking control algorithm based on RISE(robust integral of signum of error) technology is proposed. Firstly, the dynamic model of the differential mobile robot is established and decoupled to obtain a general second-order system model. Secondly, the tracking control algorithm based on RISE technology for trajectory whose second-order derivative is bounded is proposed while the control input of leader is unknown. And the algorithm is distributed which means each robot is unaware of global information. Thirdly, the stability of the system is proved by using Lyapunov stability theory and algebraic graph theory, and the necessary conditions for the stability of the system is given. Lastly, some simulation and experiment show the effectiveness of the proposed algorithm.