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Multi-mobile rotor single time-delay controller design method based on Lambert W function

A mobile robot and design method technology, applied in adaptive control, general control system, control/regulation system, etc., can solve the problems of system periodic oscillation, inability to perform performance index requirements, divergence phenomenon, etc., to achieve the effect of fast collaborative control

Active Publication Date: 2017-03-22
ZHEJIANG UNIV OF TECH
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  • Application Information

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Problems solved by technology

It is impossible to make the entire multi-mobile robot system meet certain performance index requirements, and it is also difficult to flexibly achieve different global control objectives
Moreover, the time delay is regarded as an unfavorable factor in the design of the control system, which causes the system to produce periodic oscillations, divergence phenomena, etc.

Method used

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  • Multi-mobile rotor single time-delay controller design method based on Lambert W function
  • Multi-mobile rotor single time-delay controller design method based on Lambert W function
  • Multi-mobile rotor single time-delay controller design method based on Lambert W function

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Embodiment

[0061] Step 1. First, based on the principle of rigid body kinematics, considering the influence of the input and output delays of the mobile robot, the Lagrangian method is used to establish a mobile robot model with the following transfer function form:

[0062]

[0063] Step 2, establish a single time-delay controller for the multi-mobile robot system, the system control block diagram is as follows figure 2 As shown in the figure, is the mobile robot model matrix with time delay, A single-delay controller matrix for achieving consistency in a control system. n is the number of neighbors of a single mobile robot, L is the Laplacian matrix corresponding to the topology of the multi-mobile robot system, r is the system input, and y is the system output.

[0064] Step 3, establish the interactive topology between multiple mobile robots such as image 3 As shown, the corresponding Laplacian matrix can be obtained, and the delay parameter is selected as 0.15. because i...

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Abstract

The present invention provides a multi-mobile rotor single time-delay controller design method based on a Lambert W function. The method comprises the following steps: 1) obtaining a model that a single mobile rotor is first-order integral according to the Lagrange method; 2) establishing a single time-delay controller of a multi-mobile robot system according to the model parameters; 3) selecting appropriate time-delay parameters and solving the range of the single time-delay controller proportion parameters which allow the mobile rotor to be stable based on the Lambert W function; 4) inputting the model parameters of the mobile robot into a calculation unit of the time-delay control parameters, and inputting the control parameters to a monitoring module for executing a presetting control program; and 5) applying the single time-delay controller stabilized by the presetting system to each mobile rotor to perform cooperation control of the stable mobile robot. The speed difference between the mobile robots is regulated through the single time-delay controller program to allow the whole system to be consistent and complete the cooperation control.

Description

technical field [0001] The invention relates to a cooperative control method of a multi-mobile robot system. Aiming at the multi-mobile robot system, control parameters that can make the system stable are selected, and a single time-delay controller is designed, thereby improving the consistency of the system. Background technique [0002] Multi-mobile robot systems are a rather important branch of the field of distributed artificial intelligence systems. Multi-mobile robot systems have become the main research object in distributed artificial intelligence research in the late 1980s. The main purpose of studying the multi-mobile robot system is to perform distributed cooperative control among multiple mobile robots with relatively simple functions to complete complex tasks and provide reliable support for operations in extreme environments. [0003] The development and research of mobile robot control system has received more and more attention and attention. On the one ha...

Claims

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 欧林林徐晴禹鑫燚卢靓朱熠琛郭永奎
Owner ZHEJIANG UNIV OF TECH
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