基于输出反馈线性化的多移动机器人目标包围控制

寇立伟; 项基

doi:10.16383/j.aas.c200335

基于输出反馈线性化的多移动机器人目标包围控制

doi: 10.16383/j.aas.c200335

寇立伟^{1, 2,},
项基^{1, 2,}

1.
浙江大学工业控制技术国家重点实验室杭州 310027
2.
浙江大学电气工程学院杭州 310027

基金项目: 国家自然科学基金(62173295), 山西省基础研究计划青年项目(202103021223048), 工业控制技术国家重点实验室自主课题(ICT2021A18)资助

详细信息

作者简介:
寇立伟：浙江大学电气工程学院博士. 2015年获得华中科技大学学士学位. 主要研究方向为多智能体协同控制, 自主水下航行器控制. E-mail: koukou@zju.edu.cn

项基：浙江大学电气工程学院教授, 工业控制技术国家重点实验室成员. 2005年获得浙江大学博士学位. 主要研究方向为自主无人船与航行器, 分布式优化和电力系统柔性控制. 本文通信作者. E-mail: jxiang@zju.edu.cn

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出版历程
- 收稿日期: 2020-05-23
- 录用日期: 2020-08-14
- 网络出版日期: 2022-02-22
- 刊出日期: 2022-05-13

Target Fencing Control of Multiple Mobile Robots Using Output Feedback Linearization

KOU Li-Wei^{1, 2
,},
XIANG Ji^{1, 2
,}

1.
State Key Laboratory of Industrial Control Technology, Zhejiang University, Hangzhou 310027
2.
College of Electrical Engineering, Zhejiang University, Hangzhou 310027

Funds: Supported by National Natural Science Foundation of China (62173295), Shanxi Basic Research Project (202103021223048), and Research Project of the State Key Laboratory of Industrial Control Technology (ICT2021A18)

More Information

Author Bio:
KOU Li-Wei　Ph.D. at the College of Electrical Engineering, Zhejiang University. He received his bachelor degree from Huazhong University of Science and Technology in 2015. His research interest covers coordinated control of multi-agent systems and control of autonomous underwater vehicles

XIANG Ji　Professor at the College of Electrical Engineering, and has been a member of the State Key Laboratory of Industrial Control Technology, Zhejiang University. He received his Ph.D. degree from Zhejiang University in 2005. His research interest covers autonomous unmanned ships and underwater vehicles, distributed optimization, and flexible control of power systems. Corresponding author of this paper

摘要

摘要: 针对受非完整约束的多移动机器人系统的移动目标包围控制问题, 提出一种基于输出反馈线性化的局部协同控制方法. 利用机器人与邻居节点和目标的相对距离信息、角度信息以及机器人自身的方位角信息设计协同控制器. 该方法无需事先指定包围编队形状, 可实现对移动目标的速度估计, 且保证机器人之间的障碍规避. 严格的理论分析证明了移动目标指数收敛到多移动机器人构成的凸包内部. 最后, 仿真结果验证了所提控制方法的有效性.
- 协同控制 /
- 非完整约束 /
- 分布式控制 /
- 反馈线性化
Abstract: In this paper, we focus on a moving-target-fencing problem for a group of mobile robots with nonholonomic constraints. A local cooperative control law is proposed based on output feedback linearization. The proposed control law uses the relative angle and distance measurements from the target and its neighbors, as well as the bearing angle itself. This control law does not need to predefine a fencing formation, and it can assure the estimation for unknown target＇s velocity and collision avoidance. It is rigorously proved that the proposed control law ensures that the moving target is exponentially fenced into the convex hull of multiple robots. Finally, numerical simulations verify the effectiveness of the proposed control law.
- Cooperative control /
- nonholonomic constraints /
- distributed control /
- feedback linearization

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图 1 目标包围示意图

Fig. 1 Illustration of target fencing

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图 2 目标包围控制中多移动机器人的轨迹

Fig. 2 Trajectories of multiple mobile robots during target fencing control

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图 3 平均位置误差

Fig. 3 Time evolution of the average position error

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图 4 机器人$i$和$j$之间的相对距离

Fig. 4 Time evolution of the relative distance between robot$i$and robot$j$

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图 5 速度估计

Fig. 5 Time evolution of the velocity estimation

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图 6 机器人在世界坐标系下的速度

Fig. 6 The robots＇ velocity in terms of global frame of reference

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图 7 机器人的方位角

Fig. 7 The robots＇ bearing angle

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