智能系统学报2023，Vol.18Issue(6)：1233-1242,10.DOI:10.11992/tis.202208021
多移动机器人固定时间编队控制
Fixed-time formation control of multimobile robots
摘要
Abstract
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 struc-ture,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.关键词
编队控制/固定时间控制/领航-跟随/反步法/稳定性分析/移动机器人/运动学模型/图论Key words
formation control/fixed-time control/leader-following/backstepping/stability analysis/mobile robot/kin-ematics modeling/graph theory分类
信息技术与安全科学引用本文复制引用
李洁,师五喜,李宝全..多移动机器人固定时间编队控制[J].智能系统学报,2023,18(6):1233-1242,10.基金项目
国家自然科学基金项目(61973234) （61973234）
天津市自然科学基金项目(20JCYBJC00180). （20JCYBJC00180）
