[1]钱殿伟.基于模糊滑模的多机器人系统编队控制[J].智能系统学报,2016,11(5):641-647.[doi:10.11992/tis.201510017]
 QIAN Dianwei.Formation control of multi-robot systems in a fuzzy sliding mode[J].CAAI Transactions on Intelligent Systems,2016,11(5):641-647.[doi:10.11992/tis.201510017]
点击复制

基于模糊滑模的多机器人系统编队控制(/HTML)
分享到:

《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
第11卷
期数:
2016年5期
页码:
641-647
栏目:
出版日期:
2016-11-01

文章信息/Info

Title:
Formation control of multi-robot systems in a fuzzy sliding mode
作者:
钱殿伟
华北电力大学 控制与计算机工程学院, 北京 102206
Author(s):
QIAN Dianwei
School of Control and Computer Engineering, North China Electric Power University, Beijing 102206, China
关键词:
多机器人编队控制不确定性滑模控制模糊逻辑
Keywords:
multi-robotformation controluncertaintiessliding model controlfuzzy logic
分类号:
TP242.6
DOI:
10.11992/tis.201510017
摘要:
针对多机器人编队控制问题,提出了一种滑模控制与模糊逻辑相结合的控制方法。运用领航—跟随法,建立机器人系统的动力学模型。该模型具有不确定性,在不确定性上界未知的假设条件下,运用模糊逻辑,设计模糊补偿器,以逼近系统的不确定性部分。基于Lyapunov理论,证明所设计的模糊滑模编队控制系统具有渐近稳定性,同时模糊补偿器的逼近误差是收敛的。仿真结果表明,该方法可使多机器人系统迅速地形成所期望的队形,并在运动中保持该队形。
Abstract:
To resolve the formation problem resulting from a swarm of robots, a control scheme is proposed based on sliding mode control and fuzzy logic. A formation dynamic model is established utilizing the leader-follower approach. The model is subject to uncertainties. If the upper bounds of these uncertainties are unknown, then a fuzzy compensator can be adopted to approximate the uncertainties. From an Lyapunov approach, not only is the sliding-mode-based formation control system asymptotically stable, but the approximate error of the fuzzy compensator is also convergent. The simulation results demonstrate that the robots can rapidly form and maintain the desired specified geometrical shapes during movement.

参考文献/References:

[1] HUDA M N, YU Hongnian, CANG Shuang. Behaviour-based control approach for the trajectory tracking of an underactuated planar capsule robot[J]. IET control theory & applications, 2015, 9(2):163-175.
[2] SADOWSKA A, VAN DEN BROEK T, HUIJBERTS H, et al. A virtual structure approach to formation control of unicycle mobile robots using mutual coupling[J]. International journal of control, 2011, 84(11):1886-1902.
[3] 杨丽, 曹志强, 谭民. 不确定环境下多机器人的动态编队控制[J]. 机器人, 2010, 32(2):283-288. YANG Li, CAO Zhiqiang, TAN Min. Dynamic formation control for multiple robots in uncertain environments[J]. Robot, 2010, 32(2):283-288.
[4] WANG Jinliang, WU Huaining. Leader-following formation control of multi-agent systems under fixed and switching topologies[J]. International journal of control, 2012, 85(6):695-705.
[5] 王奎民, 赵玉飞, 侯恕萍, 等. 一种改进人工势场的UUV动碍航物规避方法[J]. 智能系统学报, 2014, 9(1):47-52. WANG Kuimin, ZHAO Yufei, HOU Shuping, et al. Dynamic obstacle avoidance for unmanned underwater vehicle based on an improved artificial potential field[J]. CAAI transactions on intelligent systems, 2014, 9(1):47-52.
[6] ZHAO Weihua, GO T H. Quadcopter formation flight control combining MPC and robust feedback linearization[J]. Journal of the franklin institute, 2014, 351(3):1335-1355.
[7] GUILLET A, LENAIN R, THUILOT B, et al. Adaptable robot formation control:adaptive and predictive formation control of autonomous vehicles[J]. IEEE robotics & automation magazine, 2014, 21(1):28-39.
[8] LIU Hui, LI Junfeng. Terminal sliding mode control for spacecraft formation flying[J]. IEEE transactions on aerospace and electronic systems, 2009, 45(3):835-846.
[9] QIAN Dianwei, TONG Shiwen, GUO Jinrong, et al. Leader-follower-based formation control of nonholonomic mobile robots with mismatched uncertainties via integral sliding mode[J]. Proceedings of the institution of mechanical engineers, part I:journal of systems and control engineering, 2015, 229(6):559-569.
[10] 袁媛, 焦继乐, 曹志强, 等. 基于模糊控制协调策略的多自主机器人围捕[J]. 华中科技大学学报:自然科学版, 2011, 39(S2):328-331. YUAN Yuan, JIAO Jile, CAO Zhiqiang, et al. Fuzzy control coordination based hunting of multiple autonomous robots[J]. Journal of Huazhong university of science and technology:natural science edition, 2011, 39(S2):328-331.
[11] 王雪松, 高阳, 程玉虎, 等. 知识引导遗传算法实现机器人路径规划[J]. 控制与决策, 2009, 24(7):1043-1049. WANG Xuesong, GAO Yang, CHENG Yuhu, et al. Knowledge-guided genetic algorithm for path planning of robot[J]. Control and decision, 2009, 24(7):1043-1049.
[12] DEFOORT M, FLOQUET T, KOKOSY A, et al. Sliding-mode formation control for cooperative autonomous mobile robots[J]. IEEE transactions on industrial electronics, 2008, 55(11):3944-3953.

相似文献/References:

[1]杨甜甜,刘志远,陈 虹,等.移动机器人编队控制的现状与问题[J].智能系统学报,2007,2(04):21.
 YANG Tian-tian,LIU Zhi-yuan,CHEN Hong,et al.Formation control of mobile robots: state and open prob lems[J].CAAI Transactions on Intelligent Systems,2007,2(5):21.
[2]张 嵛,刘淑华.多机器人任务分配的研究与进展[J].智能系统学报,2008,3(02):115.
 ZHANG Yu,LIU Shu-hua.Survey of multirobot task allocation[J].CAAI Transactions on Intelligent Systems,2008,3(5):115.
[3]石志国,王志良,刘冀伟.异构多机器人协作系统研究进展[J].智能系统学报,2009,4(05):377.[doi:10.3969/j.issn.1673-4785.2009.05.001]
 SHI Zhi-guo,WANG Zhi-liang,LIU Ji-wei.Developments in heterogeneous multi-robot cooperation systems[J].CAAI Transactions on Intelligent Systems,2009,4(5):377.[doi:10.3969/j.issn.1673-4785.2009.05.001]
[4]袁健,唐功友.采用一致性算法与虚拟结构的多自主水下航行器编队控制[J].智能系统学报,2011,6(03):248.
 YUAN Jian,TANG Gongyou.Formation control of autonomous underwater vehicles with consensus algorithms and virtual structure[J].CAAI Transactions on Intelligent Systems,2011,6(5):248.
[5]来金钢,陈士华,路晓庆.具有时变时滞耦合的二阶多主体系统的编队控制[J].智能系统学报,2012,7(02):135.
 LAI Jingang,CHEN Shihua,LU Xiaoqing.Formation control for secondorder multiagent systems with timevarying delays[J].CAAI Transactions on Intelligent Systems,2012,7(5):135.
[6]雷明,周超,周绍磊,等.考虑时变时滞的多移动智能体分布式编队控制[J].智能系统学报,2012,7(06):536.
 LEI Ming,ZHOU Chao,ZHOU Shaolei,et al.Decentralized formation control of multiple mobile agents considering timevarying delay[J].CAAI Transactions on Intelligent Systems,2012,7(5):536.
[7]杨茂,田彦涛.复杂环境下多机器人觅食路径规划与控制[J].智能系统学报,2013,8(02):162.[doi:10.3969/j.issn.1673-4785.201208022]
 YANG Mao,TIAN Yantao.Foraging path planning and control for multi-robot in complex environment[J].CAAI Transactions on Intelligent Systems,2013,8(5):162.[doi:10.3969/j.issn.1673-4785.201208022]
[8]任立敏,王伟东,杜志江.移动机器人队形控制关键技术及其进展[J].智能系统学报,2013,8(05):381.[doi:10.3969/j.issn.1673-4785.201302011]
 REN Limin,WANG Weidong,DU Zhijiang.Key technologies and development of formation control of mobile robots[J].CAAI Transactions on Intelligent Systems,2013,8(5):381.[doi:10.3969/j.issn.1673-4785.201302011]
[9]程磊,周明达,吴怀宇,等.无线传感器环境下粒子群优化的多机器人协同定位研究[J].智能系统学报,2015,10(01):138.[doi:10.3969/j.issn.1673-4785.201310067]
 CHENG Lei,ZHOU Mingda,WU Huaiyu,et al.Cooperative multi-robot localization based on particle swarm optimization in the environment of wireless sensor[J].CAAI Transactions on Intelligent Systems,2015,10(5):138.[doi:10.3969/j.issn.1673-4785.201310067]
[10]吴垠,刘忠信,陈增强,等.一种基于模糊方法的领导-跟随型多机器人编队控制[J].智能系统学报,2015,10(04):533.[doi:10.3969/j.issn.1673-4785.201407014]
 WU Yin,LIU Zhongxin,CHEN Zengqiang,et al.Formation control of leader-following type multi-robotbased on fuzzy control method[J].CAAI Transactions on Intelligent Systems,2015,10(5):533.[doi:10.3969/j.issn.1673-4785.201407014]

备注/Memo

备注/Memo:
收稿日期:2015-10-22。
基金项目:国家自然科学基金项目(60904008).
作者简介:钱殿伟,男,1980年生,副教授,博士,主要研究方向为变结构控制理论与应用、智能机器人技术、欠驱动机器人控制。
通讯作者:钱殿伟.E-mail:dianwei.qian@ncepu.edu.cn
更新日期/Last Update: 1900-01-01