华中科技大学学报（自然科学版）2024，Vol.52Issue(11)：125-132,8.DOI:10.13245/j.hust.240253
具有速度约束的多移动机器人固定时间编队
Fixed-time formation of multiple mobile robots with velocity constraint
摘要
Abstract
Aiming at the problems of uncertain convergence time and velocity constraint in the formation system of multiple mobile robots under the influence of external disturbances and system model uncertainty,an anti-disturbance virtual navigator formation control strategy capable of constraining velocity error was proposed.First,the mobile robot system model was divided into two parts,which were kinematics and dynamics,and a double closed-loop control structure was established.Subsequently,according to the virtual navigator and formation configuration,the trajectory tracking error was obtained,and a fixed time kinematic sliding mode control law was designed.Then,a fixed time disturbance observer was used to accurately estimate the lumped disturbance in a fixed time.On this basis,to limit the velocity error within a reasonable range,a fixed time dynamic control law was designed using the barrier Lyapunov function,Finally,the effectiveness of the algorithm was verified by formation simulation of two mobile robots.Research results show that the proposed control strategy can enable the formation system to converge within a fixed time,and the convergence time is independent of the initial state of the system.关键词
多移动机器人/虚拟领航者/干扰观测器/固定时间控制/障碍李雅普诺夫函数Key words
multiple mobile robots/virtual navigator/disturbance observer/fixed-time control/barrier Lyapunov function分类
信息技术与安全科学引用本文复制引用
焦建芳,郑智慧,包端华..具有速度约束的多移动机器人固定时间编队[J].华中科技大学学报（自然科学版）,2024,52(11):125-132,8.基金项目
中央高校基本科研业务费专项资金资助项目(2022MS098) （2022MS098）
河北省自然科学基金青年资助项目(F2019502143). （F2019502143）
