多移动机器人固定时间编队控制

Fixed-time formation control of multimobile robots

为了减少初始位置对编队系统收敛时间的影响,本文提出了一种多移动机器人系统的固定时间编队控制方法。该方法依据领航-跟随法,将n个机器人的编队控制问题转化为n-1对跟随者与其指定领航者之间的跟踪控制问题。在领航-跟随结构模型下,设计了基于反步法的固定时间控制器使跟随机器人与领航机器人保持固定的距离与角度。基于李雅普诺夫稳定性理论,对编队控制系统的稳定性进行了分析。仿真和实验结果验证了本文方法的有效性。

In order to reduce the influence of initial position on the convergence time of formation systems,a fixed-time formation control method is presented in this paper for multimobile robot systems.Based on the leader-following structure,the formation control problem of n robots is decomposed into the tracking control problem between(n–1)pairs of followers and their designated leader.In this structure,a fixed-time controller based on backstepping is designed to maintain the desired distance and angle between the followers and leader.Furthermore,the stability of the formation control system is analyzed using the Lyapunov stability theory,and the effectiveness of this method is verified through simulation and experimental results.