摘要
针对多移动机器人编队过程中抗干扰能力差、控制精度低、稳定性差的问题,提出一种基于直接模糊自适应抗干扰编队控制方法。在虚拟领航-跟随的控制系统结构下,建立机器人的运动-动力学模型,根据相对误差模型设计直接自适应模糊控制器,对虚拟领航者-跟随者的理想相对位姿进行逼近,利用Lyapunov理论保证跟踪误差的收敛性和控制系统的稳定性。最后在MATLAB中进行实验验证并与现有方法作对比,实验结果表明所提出控制方法在未知扰动下提高了机器人控制系统的控制精度和稳定性。
Aiming at the problems of poor anti-interference ability,low control precision and weak stability in the formation process of multi-mobile robots,a direct fuzzy adaptive anti-interference formation control method is proposed in this paper.Under the control system structure of virtual navigator-follower,establishing dynamics model of robots.The fuzzy controller is designed according to the error model between virtual navigator and followers to approximate ideal relative position.Then based on the Lyapunov theory to ensure the convergence of the tracking error and the stability of control system.Finally,it is verified in the MATLAB and compared with other methods.
出处
《工业控制计算机》
2020年第8期70-72,75,共4页
Industrial Control Computer
关键词
多移动机器人
编队
抗干扰
直接自适应模糊控制
multiple mobile robots
formation
anti-interference
direct adaptive fuzzy control
