Robust adaptive safe effective dynamic coverage control of nonlinear systems and its application to differential robots

IF 3.7 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

Journal of The Franklin Institute-engineering and Applied Mathematics Pub Date : 2025-03-11 DOI:10.1016/j.jfranklin.2025.107625

Xingzhe Han , Lijun Long

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引用次数: 0

Abstract

This paper focuses on the problem of robust adaptive safe effective dynamic coverage control for a class of nonlinear systems with unknown parameters and disturbances, and this class of nonlinear systems can represent general robot systems. Novel definitions of effective dynamic coverage control function and robust adaptive control barrier function (RACBF) are proposed for two cases of fully connected networks and partial networks, respectively, where a logic switching mechanism is used to obtain estimation of disturbance. Meanwhile, a safe dynamic coverage framework for robots is proposed and a safe and effective dynamic coverage controller is obtained by solving quadratic programming (QP). This controller can effectively solve the problem of potential conflict between stability and safety objectives in coverage control. Finally, simulation results of the safe dynamic coverage control of a differential robot in 2D space are given to verify the effectiveness of the design method.

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非线性系统鲁棒自适应安全有效动态覆盖控制及其在差分机器人中的应用

研究了一类具有未知参数和扰动的非线性系统的鲁棒自适应安全有效动态覆盖控制问题，这类非线性系统可以代表一般机器人系统。针对完全连通网络和部分连通网络两种情况，分别提出了有效动态覆盖控制函数和鲁棒自适应控制屏障函数（RACBF）的新定义，并利用逻辑切换机制获得干扰估计。同时，提出了机器人安全动态覆盖框架，并通过求解二次规划（QP）得到了安全有效的动态覆盖控制器。该控制器可以有效地解决覆盖控制中稳定目标与安全目标的潜在冲突问题。最后，给出了二维空间中微分机器人安全动态覆盖控制的仿真结果，验证了设计方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Journal of The Franklin Institute-engineering and Applied Mathematics 工程技术-工程：电子与电气

CiteScore

7.30

自引率

14.60%

发文量

586

审稿时长

6.9 months

期刊介绍： The Journal of The Franklin Institute has an established reputation for publishing high-quality papers in the field of engineering and applied mathematics. Its current focus is on control systems, complex networks and dynamic systems, signal processing and communications and their applications. All submitted papers are peer-reviewed. The Journal will publish original research papers and research review papers of substance. Papers and special focus issues are judged upon possible lasting value, which has been and continues to be the strength of the Journal of The Franklin Institute.