摘要
针对受非完整约束的多移动机器人系统的移动目标包围控制问题,提出一种基于输出反馈线性化的局部协同控制方法.利用机器人与邻居节点和目标的相对距离信息、角度信息以及机器人自身的方位角信息设计协同控制器.该方法无需事先指定包围编队形状,可实现对移动目标的速度估计,且保证机器人之间的障碍规避.严格的理论分析证明了移动目标指数收敛到多移动机器人构成的凸包内部.最后,仿真结果验证了所提控制方法的有效性.
In this paper,we focus on a moving-target-fencing problem for a group of mobile robots with nonholonomic constraints.A local cooperative control law is proposed based on output feedback linearization.The proposed control law uses the relative angle and distance measurements from the target and its neighbors,as well as the bearing angle itself.This control law does not need to predefine a fencing formation,and it can assure the estimation for unknown target’s velocity and collision avoidance.It is rigorously proved that the proposed control law ensures that the moving target is exponentially fenced into the convex hull of multiple robots.Finally,numerical simulations verify the effectiveness of the proposed control law.
作者
寇立伟
项基
KOU Li-Wei;XIANG Ji(State Key Laboratory of Industrial Control Technology,Zhejiang University,Hangzhou 310027;College of Electrical Engineering,Zhejiang University,Hangzhou 310027)
出处
《自动化学报》
EI
CAS
CSCD
北大核心
2022年第5期1285-1291,共7页
Acta Automatica Sinica
基金
国家自然科学基金(62173295)
山西省基础研究计划青年项目(202103021223048)
工业控制技术国家重点实验室自主课题(ICT2021A18)资助。
关键词
协同控制
非完整约束
分布式控制
反馈线性化
Cooperative control
nonholonomic constraints
distributed control
feedback linearization
