Anti-Disturbance Fixed-Time Formation Control of Multi-Mobile Robots via Event-Triggered Mechanism

WANG Jian-an; YAN Hui-xian; ZHAO Zhi-cheng

doi:10.12263/DZXB.20211610

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Anti-Disturbance Fixed-Time Formation Control of Multi-Mobile Robots via Event-Triggered Mechanism

PAPERS | 更新时间：2025-12-08

- Anti-Disturbance Fixed-Time Formation Control of Multi-Mobile Robots via Event-Triggered Mechanism
- ACTA ELECTRONICA SINICA Vol. 51, Issue 5, Pages: 1256-1265(2023)
- 作者机构：
  
  1.太原科技大学电子信息工程学院，山西太原 030024
  2.先进控制与装备智能化山西省重点实验室，山西太原 030024
- 作者简介：
- 基金信息：
- DOI：10.12263/DZXB.20211610
  CLC： TP273
- Received：01 December 2021，
  
  Revised：2022-08-04，
  
  Published：25 May 2023
- 稿件说明：
移动端阅览
王健安,闫慧娴,赵志诚.事件触发策略下多移动机器人抗干扰固定时间编队控制[J].电子学报,2023,51(05):1256-1265.

WANG Jian-an,YAN Hui-xian,ZHAO Zhi-cheng.Anti-Disturbance Fixed-Time Formation Control of Multi-Mobile Robots via Event-Triggered Mechanism[J].ACTA ELECTRONICA SINICA,2023,51(05):1256-1265.
王健安,闫慧娴,赵志诚.事件触发策略下多移动机器人抗干扰固定时间编队控制[J].电子学报,2023,51(05):1256-1265. DOI： 10.12263/DZXB.20211610.

WANG Jian-an,YAN Hui-xian,ZHAO Zhi-cheng.Anti-Disturbance Fixed-Time Formation Control of Multi-Mobile Robots via Event-Triggered Mechanism[J].ACTA ELECTRONICA SINICA,2023,51(05):1256-1265. DOI： 10.12263/DZXB.20211610.

摘要

为节约有限通信资源，针对不确定多移动机器人系统的编队控制问题，提出一种基于抗干扰观测器的事件触发固定时间编队控制方法.首先，设计了一类自适应固定时间滑模干扰观测器（Adaptive Fixed-time Sliding Mode Disturbance Observer，AFSMDO），用来估计系统模型参数不确定和未知扰动.其次，在干扰观测器的基础上，结合反步法和固定时间理论，引入事件触发机制，设计固定时间分布式编队控制器，实现多机器人系统固定时间编队且收敛时间不依赖于系统初始状态，并经理论推导无Zeno行为.最后，通过对三个移动机器人进行编队仿真研究，验证了方法的有效性.

Abstract

For the formation control problem of uncertain multi-mobile robot system

to save limited communication resources

an event-triggered fixed-time formation control method is proposed based on anti-disturbance observer. Firstly

an adaptive fixed-time sliding mode disturbance observer (AFSMDO) is developed to estimate model parameter uncertainty and unknown disturbance. Then

on the basis of the designed disturbance observer

combined with backstepping and fixed-time theory

as well as introducing event-triggered mechanism

a fixed-time distributed formation control method is designed to achieve formation task. The setting-time is independent on the system’s initial system state. The Zeno behavior is excluded through theoretical analysis. Finally

the numerical simulations of three mobile robots are studied to verify the effectiveness of the proposed methods.

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references

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