Self-adaptive cooperative control algorithm and system of multi-wheeled robot

Abstract

The invention discloses a self-adaptive cooperative control algorithm and system of a multi-wheeled robot. The control algorithm comprises the following steps that 1, a multi-wheeled robot system including N wheel-type robots and non-linear kinetic models of single wheel-type robots are established; 2, through linear feedback and conversion, the non-linear kinetic models of single wheel-type robots are converted into a second-order linear system, and a self-adaptive cooperative controller is designed; 3, after the self-adaptive cooperative controller is designed, the evolution laws of acceleration and angular acceleration are obtained through inverse transformation, the acceleration and angular acceleration are obtained, thus corresponding control force and a control torque are obtained, and self-adaptive cooperative control of the multiple wheel-type robots is completed. The self-adaptive cooperative control algorithm and system can effectively overcome the uncertain nonlinear terms of a system structure and parameters, automatically update communication coupling coefficients of different robots, adapt to dynamically changing environments and communicating topological-structure change and efficiently complete consistent formation actions.

Description

technical field [0001] The invention relates to the field of multi-robot control, in particular to an adaptive cooperative control algorithm and a control system for multi-wheeled robots. Background technique [0002] The working environment of robots and the complexity of tasks are gradually increasing, and it is becoming more and more difficult for a single robot to meet the needs; and the multi-robot system, with its performance in task applicability, economy, optimality, robustness, scalability, etc. The great superiority has become one of the most popular research topics in the field of robotics; the collaborative detection and control of robots helps to realize the comprehensive perception of the environment, complete the performance that a single robot cannot complete, and greatly improve the working efficiency of robots. As a new form of robot application, multi-robot coordination and cooperation is attracting increasing attention both at home and abroad. With the a...

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Problems solved by technology

In the existing research on the structure and design of mobile robot systems, formation control methods, and intelligent manifestations, most of them do not consider the error influence of the actual robot motion and automatically adjust the coupling weights, and the robot itself has many uncertainties, such as mileage Due to its integral characteristics, there is a large error accumulation in the measurement technology; the inertial navigation technology will drift with the growth of time, which will cause the error to increase with time; the GPS accuracy problem and it is not suitable for indoor use, etc.

For the robot motion error in the real environment, it is often difficult to express it with a certain error model, which will require artificial remote adjustment during the task to continue the task

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