基于滑模变结构控制多机器人协同编队的研究综述

A review of cooperative formation of multiple robots based on sliding mode variable structure control

滑模变结构控制(SMC)因响应速度快、自适应性强以及工程实现简单等优点,对解决典型非线性的多机器人控制系统具备良好的效果.基于此,本文介绍了SMC的发展、原理以及在多机器人协同编队领域的应用.但同时,SMC本身还存在抖振等缺陷,从而限制了其应用.为进一步提升SMC的控制品质,获得更快的响应、对扰动更强的鲁棒性以及更好的稳态性能,本文深入研究了近些年神经网络、模糊逻辑、鲁棒自适应等先进智能控制方法与SMC结合的工作,并对这些新型编队控制策略进行了对比分析.最后展望了该领域未来的研究方向.

Sliding Mode Variable Structure Control(SMC) has been widely used in typical nonlinear multi-robot control systems due to its quick response, strong adaptability, and easy engineering implementation.In this article, we introduce the SMC’s development and principle, as well as its application in the field of multi-robot cooperative formation.In view of the SMC’s defects such as chattering, which still hampered its application, we made an in-depth survey on researches of fusion of SMC with advanced intelligent control approaches such as neural networks, fuzzy logic, robust adaptive, and comparatively analyzed these new formation control strategies in aspects of response time, robustness against disturbances, and steady-state performance.Finally, the future research directions in SMC are prospected.