移动机器人编队统一控制方案

2021 International Conference on Unmanned Aircraft Systems (ICUAS) Pub Date : 2021-06-15 DOI:10.1109/ICUAS51884.2021.9476675

C. Rosales, F. Rossomando, L. Salinas, J. Gimenez, R. Carelli

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引用次数: 0

摘要

本文提出了一种移动机器人编队在定位、路径跟踪和轨迹跟踪任务中的统一控制方法。该控制基于地层的运动学模型，并结合基于神经滑模控制的动态补偿器，以保证良好的参考速度跟踪。利用李雅普诺夫理论给出了系统的稳定性分析。最后，通过仿真对控制方案进行了验证。

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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Unified control solution for mobile robot formations

This paper presents a unified control for a formation of mobile robots in positioning, path following, and trajectory tracking tasks. The control is based on a kinematic model of the formation in combination with a dynamic compensator based on a neural sliding mode control to guarantee a good tracking of reference velocities. Stability analysis of the complete system is given by using the Lyapunov theory. Finally, the control scheme is validated through simulations.

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2021 International Conference on Unmanned Aircraft Systems (ICUAS)

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