当前位置: X-MOL 学术Meas. Control › 论文详情
Our official English website, www.x-mol.net, welcomes your feedback! (Note: you will need to create a separate account there.)
Disturbance observer–based super-twisting sliding mode control for formation tracking of multi-agent mobile robots
Measurement and Control ( IF 2 ) Pub Date : 2020-03-19 , DOI: 10.1177/0020294020909126
Guigang Zhang 1 , Yun Wang 1 , Jian Wang 1 , Jiarong Chen 2 , Dianwei Qian 2
Affiliation  

This paper presents a super-twisting sliding mode control method for the formation maneuvers of multiple robots. In the real world of applications, the robots suffer from many uncertainties and disturbances that trouble the super-twisting sliding mode formation maneuvers very much. Especially, this issue has the adverse effects on the formation performance when the uncertainties and disturbances have an unknown bound. This paper focuses on this issue and utilizes the technique of disturbance observer to meet this challenge. In terms of the leader–follower framework, this paper investigates the integration of the super-twisting sliding mode control method and the disturbance observer technique. This kind of formation design has the guaranteed closed-loop stability in the sense of Lyapunov. Some simulations are implemented through a multi-robot platform. The results demonstrate that the superiority of the formation design regardless of uncertainties and disturbances.

中文翻译:

基于扰动观测器的多智能体移动机器人编队跟踪超扭曲滑模控制

本文提出了一种用于多机器人编队机动的超扭滑模控制方法。在实际应用中,机器人受到许多不确定性和干扰的影响,非常困扰超扭滑模形成机动。特别是当不确定性和扰动具有未知界限时,该问题对地层性能产生不利影响。本文着眼于这个问题,并利用干扰观测器的技术来应对这一挑战。在Leader-Follower框架方面,本文研究了超扭曲滑模控制方法和干扰观测器技术的集成。这种编队设计保证了李雅普诺夫意义上的闭环稳定性。一些模拟是通过多机器人平台实现的。结果表明,无论不确定性和干扰,编队设计的优越性。
更新日期:2020-03-19
down
wechat
bug