事件触发策略下多移动机器人抗干扰固定时间编队控制

王健安; 闫慧娴; 赵志诚

doi:10.12263/DZXB.20211610

您当前的位置：

首页 >

文章列表页 >

事件触发策略下多移动机器人抗干扰固定时间编队控制

学术论文 | 更新时间：2025-12-08

- 事件触发策略下多移动机器人抗干扰固定时间编队控制
- Anti-Disturbance Fixed-Time Formation Control of Multi-Mobile Robots via Event-Triggered Mechanism
- 电子学报 2023年51卷第5期页码：1256-1265
- 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：
  
  [ "王健安　男，1984年1月出生于江西省湖口县，博士，教授，研究方向为多智能体协同控制、复杂网络控制与安全. E-mail: jiananwang@tyust.edu.cn" ]
  [ "闫慧娴　女，1996年10月出生于山西省大同市.现为太原科技大学电子信息工程学院研究生，主要研究方向为移动机器人编队、多智能体系统协同控制. E-mail: 1262205971@qq.com" ]
  [ "赵志诚　男，1970年3月出生于山西省临猗县，教授，研究方向为先进控制理论与应用. E-mail: zhzhich@tyust.edu.cn" ]
- 基金信息：
  
  山西省重点研发计划（国际科技合作）项目(201903D421045);山西省基础研究计划面上项目(20210302123210;20210302122427;201901D111265);山西省重点研发计划项目(202102020101002);山西省科技重大专项(20191102009);山西省研究生教育创新计划项目(2021Y682)
- DOI：10.12263/DZXB.20211610
  中图分类号： TP273
- 收稿：2021-12-01，
  
  修回：2022-08-04，
  
  纸质出版：2023-05-25
- 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.

关键词

Keywords

references

LEE G , CHWA D . Decentralized behavior-based formation control of multiple robots considering obstacle avoidance [J]. Intelligent Service Robotics , 2018 , 11 ( 1 ): 127 - 138 .

MEHRJERDI H , GHOMMAM J , SAAD M . Nonlinear coordination control for a group of mobile robots using a virtual structure [J]. Mechatronics , 2011 , 21 ( 7 ): 1147 - 1155 .

CHEN Y Y , AI X , ZHU J , et al . Spherical orbit tracking and formation flying for nonholonomic aircraft-like vehicles with directed interactions and unknown disturbances [J]. IEEE Transactions on Systems, Man, and Cybernetics: Systems , 2021 , 54 ( 8 ): 5362 - 5367 .

王保防 , 张瑞雷 , 郭健 , 陈庆伟 . 纵向打滑状态下的轮式移动机器人编队控制 [J]. 电子学报 , 2017 , 45 ( 1 ): 206 - 212 .

WANG B F , ZHANG R L , GUO J , CHEN Q W . Formation control for car-like mobile robots under slip conditions [J]. Acta Electronica Sinica , 2017 , 45 ( 1 ): 206 - 212 . (in Chinese)

李艳东 , 朱玲 , 郭媛 , 于颖 . 基于径向基函数神经网络的移动机器人多变量固定时间编队控制 [J]. 信息与控制 , 2019 , 48 ( 6 ): 649 - 657 .

LI Y D , ZHU L , GUO Y , YU Y . Radial basis function neural network-based multivariable fixed-time formation control of mobile robots [J]. Information and Control , 2019 , 48 ( 6 ): 649 - 657 . (in Chinese)

曹政才 , 赵应涛 , 付宜利 . 车式移动机器人轨迹跟踪控制方法 [J]. 电子学报 , 2012 , 40 ( 4 ): 632 - 635 .

CAO Z C , ZHAO Y T , FU Y L . Trajectory tracking control approach of a car-like mobile robot [J]. Acta Electronica Sinica , 2012 , 40 ( 4 ): 632 - 635 . (in Chinese)

苏博 , 王洪斌 , 王跃灵 , 高静 . 基于固定时间滑模干扰观测器的AUVs事件触发编队控制 [J]. 控制与决策 , 2022 , 37 ( 5 ): 1116 - 1126 .

SU B , WANG H B , WANG Y L , GAO J . Event-triggered formation control for AUVs with fixed-time sliding mode disturbance observer [J]. Control and Decision , 2022 , 37 ( 5 ): 1116 - 1126 . (in Chinese)

GURUMURTHY G , DAS D K . Terminal sliding mode disturbance observer based adaptive super twisting sliding mode controller design for a class of nonlinear systems [J]. European Journal of Control , 2021 , 57 : 232 - 241 .

ZHANG F , CHEN Y Y . Finite‐time tracking control for nonaffine nonlinear pure‐feedback systems with a prescribed performance [J]. International Journal of Robust and Nonlinear Control , 2022 , 32 ( 4 ): 2212 - 2232 .

YU S , YU X , SHIRINZADEH B , et al . Continuous finite-time control for robotic manipulators with terminal sliding mode [J]. Automatica , 2005 , 41 ( 11 ): 1957 - 1964 .

YANG L , YANG J . Nonsingular fast terminal sliding-mode control for nonlinear dynamical systems [J]. International Journal of Robust and Nonlinear Control , 2011 , 21 ( 16 ): 1865 - 1879 .

HU Q L , JIANG B Y , SHI Z . Novel terminal sliding mode based fault tolerant attitude control for spacecraft under actuator faults [J]. Acta Aeronautica et Astronautica Sinica , 2014 , 35 ( 1 ): 249 - 258 .

POLYAKOV A . Nonlinear feedback design for fixed-time stabilization of linear control systems [J]. IEEE Transactions on Automatic Control , 2012 , 57 ( 8 ): 2106 - 2110 .

SU B , WANG H , WANG Y . Dynamic event-triggered formation control for AUVs with fixed-time integral sliding mode disturbance observer [J]. Ocean Engineering , 2021 , 240 : 109893 .

CHU X , PENG Z , WEN G , Robust fixed-time consensus tracking with application to formation control of unicycles [J]. IET Control Theory & Applications . 2018 , 12 ( 1 ): 53 - 59 .

杨飞生 , 汪璟 , 潘泉 . 基于事件触发机制的网络控制研究综述 [J]. 控制与决策 , 2018 , 33 ( 6 ): 969 - 977 .

Yang F S , WANG J , PAN Q . A survey of network event-triggered control [J]. Control and Decision , 2018 , 33 ( 6 ): 969 - 977 . (in Chinese)

王洪斌 , 高静 , 苏博 , 王跃灵 . 基于事件触发的AUVs固定时间编队控制 [J/OL]. 自动化学报 , DOI: 10.16383/j.aas.c190816 http://dx.doi.org/10.16383/j.aas.c190816 .

WANG H B , GAO J , SU B , WANG Y L . Fixed-time formation of AUVs based on event-triggered control [J/OL]. Acta Automatica Sinica , DOI: 10.16383/j.aas.c190816. http://dx.doi.org/10.16383/j.aas.c190816. (in Chinese)

WANG H B , SU B . Event-triggered formation control of AUVs with fixed-time RBF disturbance observer [J]. Applied Ocean research , 2021 , 112 : 102638 .

YANG H , YE D . Adaptive fixed-time bipartite tracking consensus control for unknown nonlinear multi-agent systems: An information classification mechanism [J]. Information Sciences , 2018 , 459 : 238 - 254 .

游星星 , 杨道文 , 郭斌 , 刘凯 , 佃松宜 , 朱雨琪 . 基于观测器和指定性能的非线性系统事件触发跟踪控制 [J/OL]. 自动化学报 , DOI: 10.16383/j.aas.c210387 http://dx.doi.org/10.16383/j.aas.c210387 .

YOU X X , YANG D W , GUO B , LIU K , DIAN S Y , ZHU Y Q . Event-triggered tracking control for a class of nonlinear systems with observer and prescribed performance [J/OL]. Acta Automatica Sinica , DOI: 10.16383/j.aas.c210387. http://dx.doi.org/10.16383/j.aas.c210387. (in Chinese)

浏览量

下载量

CSCD

文章被引用时，请邮件提醒。

提交

工具集

关联资源

基于简化虚拟受力模型的未知复杂环境下群机器人围捕

纵向打滑状态下的轮式移动机器人编队控制