含驱动器动力学的移动机器人编队自适应控制

摘要

针对含有驱动器及编队动力学的多非完整移动机器人编队控制问题，基于领航者-跟随者l-ψ控制结构，通过反步法设计了一种将运动学控制器与驱动器输入电压控制器相结合的新型控制策略。采用径向基神经网络（RB-FNN）对跟随者及领航者动力学非线性不确定部分进行在线估计，并通过自适应鲁棒控制器对神经网络建模误差进行补偿。该方法不但解决了移动机器人编队控制的参数与非参数不确定性问题，同时也确保了机器人编队在期望队形下对指定轨迹的跟踪；基于Lyapunov方法的设计过程，保证了控制系统的稳定与收敛；仿真结果表明了该方法的有效性。%For the formation control problem of multiple nonholonomic mobile robots including actuator and formation dynamics, this paper presents a new control law that integrates kinematic controller with input voltages controller of actuator. This control law is designed by backstepping technique based on l-ψformation control structure of leader-follower. The RBFNN is developed to achieve on-line estimation for the part of dynamics nonlinear uncertain for follower and leader of robots. The adaptive robust controller is adopted to compensate modeling errors of neural network. This method not only solves the problem of parameters and non-parameter uncertainties of mobile robots, but also ensures the desired trajectory tracking of robot formation in the case of maintaining formation. The stability and convergence of the control system are proved by using the Lyapunov theory. The simulation results show the effectiveness of this proposed method.