反推
控制理论(社会学)
滑模控制
机器人
控制工程
控制器(灌溉)
运动学
趋同(经济学)
计算机科学
李雅普诺夫函数
约束(计算机辅助设计)
模式(计算机接口)
弹道
工程类
作者
Zhe Sun,Fanjie Huang,Shujie Hu,Bo Chen
出处
期刊:Lecture notes in electrical engineering
日期:2022-07-29
卷期号:: 824-835
标识
DOI:10.1007/978-981-19-3998-3_79
摘要
AbstractDue to the wide application of robots, multi-robot formation plays an increasingly important role in autonomous transportation and service. This paper studies a formation control problem of a multi-robot system based on leader-followers mode. Firstly, according to the formation constraint, a kinematic model is established such that the formation problem is transformed into a trajectory-tracking problem of the robots. Based on this model, a backstepping sliding mode (BSM) control algorithm is proposed to ensure the convergence of follower robots’ tracking errors. In addition, the stability of the whole control system is substantiated in the sense of Lyapunov. Finally, the performance of the designed BSM controller is tested by simulation in circular and curvilinear formation scenarios. The simulation results demonstrate that our presented BSM control law possesses high tracking accuracy.KeywordsMulti-robotFormation controlBackstepping sliding mode
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