多蛇形机器人编队路径跟踪控制

Formation Path-following Control of Multi-snake Robots

为了实现多个蛇形机器人的编队控制,该文提出一种基于误差约束的抗干扰路径跟随方法。该方法使用高度耦合的动态频率补偿器来调整每个机器人的运动速度,以确保编队成员之间位置和速度的一致性。在动力学控制中,通过障碍函数的等效原则消除了虚拟变量的奇异现象,提高了路径跟随的稳定性。此外,该文设计了模型不确定性和外界干扰的预测值,以此来提前补偿机器人的关节偏移量和扭矩输入,从而进一步提高了跟随误差的收敛速度和稳态性能。最后,利用Lyapunov理论证明了该方法的一致最终有界性(UUB)。仿真数据表明,相对于其他经典方法,该文所提模型和控制策略具有更高的跟随精度。

To achieve formation control of multiple snake robots,an error-constrained anti-interference path-following method is proposed in this paper.A highly coupled dynamic frequency compensator is used to adjust the motion speed of each robot to ensure consistency in the position and velocity of the formation members.In dynamic control,the singularity phenomenon of virtual variables is eliminated by the equivalent principle of barrier functions,improving the stability of path following.In addition,predictive values for model uncertainty and external interference are designed to pre-compensate for joint offsets and torque inputs of the robots,further improving the convergence rate and steady-state performance of the following errors.Finally,the Lyapunov theory is used to prove the Uniform Ultimate Boundedness(UUB)of this system.Simulation data demonstrate that the proposed method and control strategy have higher following accuracy compared to other classic methods.