基于分布式参考校正的多机器人编队控制

Distributed reference correction-based multi-robot formation control

针对避障、外部干扰和迟滞等实际的多机器人编队控制问题,提出了一种基于分布式参考校正的控制方法。通过采用人工势场法和干扰观测器,解决了非匹配不确定性的避障问题。定义不可达参考场景描述了多机器人在试图避开障碍物时的被动修正行为,并为每个机器人设计了分布式参考校正算法,减弱被动校正行为带来的不利影响,保证每个机器人位置跟踪误差的有界性。考虑已知的执行器迟滞效应,在电流控制律中添加了Bouc-Wen迟滞补偿器。利用Lyapunov稳定性理论验证了避障的有效性。最后,在MATLAB环境下基于多机器人系统进行了数值仿真和比较,以证明所提出的算法和控制器的有效性,实验结果表明该方法可以在具有外部干扰和迟滞等实际问题下形成稳定的多机器人编队控制,对路径上的障碍物进行无碰撞避障,提出的分布式参考校正算法减弱了被动校正行为,提高了系统的稳定性。

Aiming at the actual multi-robot formation control problems such as obstacle avoidance,external disturbance and hysteresis,a control method based on distributed reference correction is proposed.By using the artificial potential field method and the disturbance observer,the obstacle avoidance problem of mismatched uncertainty is solved.The unreachable reference scene is defined to describe the passive correction behavior of multiple robots when trying to avoid obstacles.A distributed reference correction algorithm is designed for each robot to reduce the adverse effects of passive correction behavior and ensure the boundedness of position tracking error of each robot.Considering the known actuator hysteresis effect,a Bouc-Wen hysteresis compensator is added to the current control law.The effectiveness of obstacle avoidance is verified by Lyapunov stability theory.Finally,numerical simulation and comparison are carried out based on the multi-robot system to prove the effectiveness of the proposed algorithm and controller.Finally,numerical simulation and comparison are carried out based on multi-robot system in MATLAB environment to prove the effectiveness of the proposed algorithm and controller.The experimental results show that the method can form a stable multi-robot formation control under practical problems such as external interference and hysteresis,and avoid obstacles on the path without collision.The proposed distributed reference correction algorithm weakens the passive correction behavior and improves the stability of the system.