摘要
主要研究了多个非完整机器人对多个动态目标的协同环航控制问题;首先,针对多目标护航任务,建立目标扩展圆形构型,以期完成紧密目标保卫任务;其次,针对护航机器人,通过利用自身及相邻节点的位置与方位信息及所包围的动态目标的中心位置及扩展半径设计分布式时变圆形编队控制协议,实现预定几何分布下的机器人环航编队设计;其中,通过引入虚拟信号变量设计期望的速度及角速度控制律,利用反步技术提出了一种新的考虑时变护航半径的分布式控制策略;在对目标节点速度的温和假设下,所提出的编队控制器可以驱动多护航机器人渐近收敛到以多目标中心的圆上,同时维持一个预定的几何编队配置;Lyapunov分析证明了所有的误差都可以渐进稳定到原点,数值仿真核实了所构建的控制方案的可行性。
A cooperative circumnavigation control problem of multiple non-holonomic robots for multiple dynamic targets is mainly investigated. Firstly, an extended circular configuration of multiple targets is constructed to ensure robots to finish the target defense mission. Secondly, by using the position and orientation information on robots or neighbor nodes, and the central position and extensive radius of surrounded targets, a distributed time-varying circular formation control protocol is designed, and robot escort targets are realized under the predetermined geometric distribution cooperatively. Specially, by introducing virtual signal variables into the control law of desired velocity and angular velocity, a new distributed control strategy with the time-varying escorting radius is proposed by backstepping technology. Under mild assumptions about the target velocity, the proposed formation controller can enforce the multi-robot to asymptotically converge on a guided circle centered on the multi-target, while maintaining a predetermined geometric formation configuration. The Lyapunov stabilization analysis proves that all errors can be stabilized to the origin asymptotically, and numerical simulation verifies the feasibility of the proposed scheme.
作者
赵桥
李博
项融融
ZHAO Qiao;LI Bo;XIANG Rongrong(Key Laboratory of Instrument Science and Dynamic Testing,Ministry of Education,North University of China,Taiyuan 030051,China)
出处
《计算机测量与控制》
2023年第1期71-78,共8页
Computer Measurement &Control
基金
国家自然科学基金(61471325)、国家自然科学基金青年科学基金(52006114)资助。
关键词
多非完整机器人
多目标跟踪
目标环绕
反步技术
协同控制
时变半径
multi-nonholonomic robots
multi-target tracking
target enclosing
backstepping technology
cooperative control
time-varying radius
