Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Default performance formation controller structure for multi-mobile robots and design method

A mobile robot with preset performance technology, applied in non-electric variable control, control/adjustment system, two-dimensional position/channel control, etc., to overcome the explosion of computational complexity, solve system uncertainty, and improve accuracy and speed Effect

Active Publication Date: 2018-10-12
NANJING UNIV OF POSTS & TELECOMM
View PDF6 Cites 32 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Aiming at the feature that the extended state observer does not depend on the precise mobile robot model, the present invention compensates the unknown dynamics in real time through the estimation of the extended state quantity, so that the designed time-varying formation controller has anti-disturbance; it can be estimated effectively by means of the tracking differentiator Derivatives of complex nonlinear functions; use preset performance functions to improve the convergence accuracy and speed of formation errors; can effectively deal with unknown dynamics in the system, simplify complex derivative operations, and precision control issues

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Default performance formation controller structure for multi-mobile robots and design method
  • Default performance formation controller structure for multi-mobile robots and design method
  • Default performance formation controller structure for multi-mobile robots and design method

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0177] The state equation of the ith mobile robot system among the followers selected in this embodiment is:

[0178]

[0179] In the formula, (y i，1 ,y i，2 ) is the coordinates of mobile robot i, u i,1 , u i,2 is the control force, that is, the control quantity; f i,1,1 (x i,1,1 ,x i,1,2 )=x i,1,2 , f i,2,1 (x i,2,1 ,x i,2,2 )=x i,2,2 , m i is the mass of mobile robot i, which is 1kg, and is the damping coefficient, generally 1; and is the coefficient to control the transient response of mobile robot i, generally 9; the initial values ​​of the four follower system states are:

[0180] Consider a multi-agent network composed of 4 followers and 1 leader, and at least one follower communicates with the leader. The communication topology is as follows figure 2 As shown, where 0 is the number of the leader, and 1, 2, 3, and 4 are the numbers of the four followers. Further, the Laplacian matrix can be obtained, and the Laplacian matrix is ​​as f...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention relates to a default performance formation controller structure for multi-mobile robots and a design method. N double-mobile robots containing unknown dynamic states are regarded as followers, the networked system formed by connecting the followers with a leader through a one-way topological graph is regarded as a controlled object, and a time-varying formation controller with default performance is designed by using the active-disturbance-rejection and inverse techniques, so that the following robots track the reference trajectory of the leader and build and keep a desired time-varying rank, and the tracking error is within a preset range. The default performance formation controller structure has the advantages that according to the characteristic that an extended state observer is independent of a precise mobile robot model, the unknown dynamic states are compensated through estimation of the extended state amount in real time, so that the designed time-varying formation controller has a disturbance rejection capacity; the derivative of a complicated nonlinear function is effectively estimated by means of a tracking differentiator; the convergence precision and rate of a formation error are improved by using a default performance function; the problems about the unknown dynamic states, complicated derivation reduction and precision control in a system can be effectively solved.

Description

technical field [0001] The invention relates to a multi-mobile robot preset performance formation controller structure and design method, belonging to the technical field of industrial process control. Background technique [0002] Since the 20th century, with the maturity and development of automation technology, the multi-mobile robot system has appeared in many aspects such as production and scientific research as a more complex and advanced electromechanical system. In-depth research was carried out. Compared with a single mobile robot system, multiple mobile robots can complete more complex tasks and have greater load capacity. However, these advantages of multi-mobile robot systems come at a price, including more complex control problems. A certain mobile robot in the coordination system is designated as a "leader", and the remaining mobile robots that follow the leader's predetermined formation are called "followers" group. In 2017, He Lei et al. proposed an adapti...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0276
Inventor 杨杨谈杰岳东徐闯孟青缪松涛许慧文
Owner NANJING UNIV OF POSTS & TELECOMM
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com