项目名称: 不确定非完整移动机器人基于一致性的分布式编队控制研究
项目编号: No.61503016
项目类型: 青年科学基金项目
立项/批准年度: 2016
项目学科: 自动化技术、计算机技术
项目作者: 彭朝霞
作者单位: 北京航空航天大学
项目金额: 22万元
中文摘要: 近年来,随着多移动机器人系统在军事和民事领域的广泛应用,多移动机器人的编队控制也越来越受到国内外来自计算机科学、自动控制科学、机械工程、交通工程、信息与传感器技术、数学等各个领域学者的关注。本项目旨在结合现代控制理论、非线性控制理论、一致性控制理论、非光滑李亚普诺夫稳定性理论、神经网络方法、鲁棒自适应方法、以及非完整移动机器人的运动学模型和动力学模型,研究不确定非完整移动机器人系统基于一致性的分布式编队控制问题。具体的研究内容包括:1)具有系统参数不确定性的非完整移动机器人基于一致性的鲁棒自适应分布式编队控制;2)具有非参数不确定性的非完整移动机器人基于一致性的分布式编队控制;3)具有时滞的非完整移动机器人基于一致性的分布式编队控制。该研究将会对多移动机器人系统控制理论在智能交通、现代医疗、勘探、营救等实际问题中的应用提供进一步的理论基础和技术支持。
中文关键词: 分布式编队控制;鲁棒性;不确定性;非完整移动机器人;一致性
英文摘要: In recent years, since multiple mobile robots systems have been wildly applied into the military and civil domains, the formation control of multiple mobile robots has been paid a great attention from researchers in various fields of computer science, automatic control, mechanical engineering, transportation, information science, mathematics and so on. This project investigates the distributed consensus-based formation control for multiple nonholonomic mobile robots with uncertainties, by using the combinations of some theories, such as, control theory, nonlinear control theory, the classic consensus theory for multi-agent systems, nonsmooth lyapunov stability theory, neural network approach, robust adaptive control, and the kinematics and dynamics models of nonholonomic mobile robots. In this project, we mainly consider three topics: 1) distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with uncertain parameters; 2) distributed consensus-based formation control for nonholonomic mobile robots with non-parameter uncertainties; 3) distributed consensus-based formation control for nonholonomic mobile robots with time delay. The expected results of this project will provide a theory guarantee for that the formation control of nonholonomic mobile robots could be widely applied in the fields of intelligent transportation, modern medical treatment, search-and-rescue operations and surveillance, and so on.
英文关键词: Distributed formation control;Robust;Uncertainty;Nonholonomic mobile robots;Consensus