信息与控制2024，Vol.53Issue(1)：58-70,13.DOI:10.13976/j.cnki.xk.2023.2505
轮式移动机器人预定时间领导跟随一致性控制
Predefined-time Leader-following Consensus Control for Wheeled Mobile Robots
摘要
Abstract
A predefined-time consensus control approach is investigated for the leader-following consen-sus problem of wheeled mobile robot(WMR).First,under the directed graph,a distributed ob-server is proposed for each follower to estimate the leader's state in a predefined time.Second,on the basis of the observer and a constructed double power reaching law and a nonlinear manifold,a new controller is designed to track the estimated leader state in a predefined time.Moreover,a switching protocol and a linear manifold are referenced to ensure that the controller can achieve leader-following consensus for a predefined time under any initial condition without causing singu-larity problems.The predefined time stability of the system is then proved by algebraic graph theo-ry and Lyapunov theory.Finally,simulation comparison experiments verify the proposed algorithm's effectiveness and superiority.Compared with that of the finite-time controller,the convergence time of the proposed controller is independent of the initial conditions,and the convergence effect is better.Compared with that of the fixed-time controller,the convergence time setting of the pro-posed controller is simpler,and a single parameter can directly preset the system convergence time.关键词
轮式移动机器人/领导跟随一致性/预定时间控制/一致性控制/有向图Key words
wheeled mobile robot(WMR)/leader-following consensus/predefined-time control/consensus control/directed graph分类
信息技术与安全科学引用本文复制引用
马小陆,谭毅波,梅宏,张睿,吴明..轮式移动机器人预定时间领导跟随一致性控制[J].信息与控制,2024,53(1):58-70,13.基金项目
国家自然科学基金项目(61472282、62172004、62072002) （61472282、62172004、62072002）
安徽省科技重大专项(202003a05020028) （202003a05020028）
安徽高校自然科学研究重点项目(KJ2019A0065) （KJ2019A0065）
安徽省重点研究开发计划项目(202004a0502001) （202004a0502001）
特种重载机器人安徽省重点实验室开放课题(TZJQR004-2020) （TZJQR004-2020）
