事件触发策略下多移动机器人抗干扰固定时间编队控制

Anti-Disturbance Fixed-Time Formation Control of Multi-Mobile Robots via Event-Triggered Mechanism

为节约有限通信资源,针对不确定多移动机器人系统的编队控制问题,提出一种基于抗干扰观测器的事件触发固定时间编队控制方法.首先,设计了一类自适应固定时间滑模干扰观测器(Adaptive Fixed-time Sliding Mode Disturbance Observer,AFSMDO),用来估计系统模型参数不确定和未知扰动.其次,在干扰观测器的基础上,结合反步法和固定时间理论,引入事件触发机制,设计固定时间分布式编队控制器,实现多机器人系统固定时间编队且收敛时间不依赖于系统初始状态,并经理论推导无Zeno行为.最后,通过对三个移动机器人进行编队仿真研究,验证了方法的有效性.

For the formation control problem of uncertain multi-mobile robot system,to save limited communication resources,an event-triggered fixed-time formation control method is proposed based on anti-disturbance observer.Firstly,an adaptive fixed-time sliding mode disturbance observer(AFSMDO)is developed to estimate model parameter uncertainty and unknown disturbance.Then,on the basis of the designed disturbance observer,combined with backstepping and fixed-time theory,as well as introducing event-triggered mechanism,a fixed-time distributed formation control method is de-signed to achieve formation task.The setting-time is independent on the system’s initial system state.The Zeno behavior is excluded through theoretical analysis.Finally,the numerical simulations of three mobile robots are studied to verify the ef-fectiveness of the proposed methods.