单路径导引的车式移动机器人协同编队控制

Coordinated formation control of car-like mobile robots guided by parameterized single path

中文关键词  车式移动机器人  协同编队控制器  线性扩张状态观测器  级联系统稳定性

英文关键词  car-like mobile robot  coordinated formation controller  linear extended state observer  cascade system stability

中文摘要

      针对含有模型不确定性和未知外部扰动的车式移动机器人集群, 本文设计了一种分布式协同编队控制器, 通过单条参数化路径导引, 实现了车式移动机器人协同编队运动. 本文首先在运动学层级设计了基于领航–跟随策 略的队形制导律和路径更新律, 其次在动力学层级设计了前向速度和姿态角控制律, 通过线性扩张状态观测器估计 并补偿系统模型中的非线性部分, 消除参数摄动和外部扰动造成的不利影响, 然后通过级联系统理论证明了闭环系 统的输入到状态稳定性, 最后通过数字仿真和加热机群实验结果验证了本文控制器的有效性.

英文摘要

      In this paper, a distributed coordinated formation controller is proposed for a platoon of car-like mobile robots (CLMRs) moving along parameterized single path, which are subject to model uncertainties and unknown external disturbances. On the kinematics level, leader-follower-based distributed formation guidance laws and path update laws are designed to follow the path with desired velocity. Then, the longitudinal velocity and heading angle control laws are developed on the kinetic level. The nonlinear term is estimated by linear extended state observer (LESO), such that the model uncertainties and unknown external disturbances are compensated and the unfavorable influences are mitigated. The input-to-state stability of the closed-loop system is established via cascade theory. Finally, the effectiveness of the proposed controller is verified via simulation results and experiments on the hot-in-place preheater vehicles.