考虑耦合动力学的多球机器人自适应RFWCMAC协同编队控制

2015 International Conference on Informative and Cybernetics for Computational Social Systems (ICCSS) Pub Date : 2015-10-01 DOI:10.1109/ICCSS.2015.7281150

Ching-Chih Tsai, C. H. Chiang, Feng-Chun Tai, Kao-Shing Hwang

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引用次数: 13

摘要

针对不确定多球机器人群体，提出了一种基于循环模糊小波小脑模型-关节控制器(RFWCMAC)的基于智能共识的协同编队控制方法。将每个球机器人的动力学模型表述为一个多变量二阶欠驱动动力学系统模型，并利用图论对多机器人系统进行建模。通过RFWCMAC在线学习系统的不确定性，利用Lyapunov稳定性理论和滑模控制方法，提出了一种基于智能共识的协同编队控制方法，实现了存在不确定性条件下的编队控制。仿真结果表明了该方法的有效性和优越性。

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Adaptive RFWCMAC cooperative formation control for multiple ballbots incorporated with coupling dynamics

This paper presents an intelligent consensus-based cooperative formation control using recurrent fuzzy wavelet cerebellar-model-articulation-controller (RFWCMAC) for a team of uncertain multiple ballbots. The dynamic model of each ballbot is formulated as one multivariable second-order underactuated dynamic system model, and the multirobot system is modeled by graph theory. By online learning the system uncertainties using RFWCMAC, an intelligent consensus-based cooperative formation control approach is presented using the Lyapunov stability theory and sliding-mode control approach, in order to carry out formation control in the presence of uncertainties. Simulations are conducted to show the effectiveness and merits of the proposed method.

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来源期刊

2015 International Conference on Informative and Cybernetics for Computational Social Systems (ICCSS)

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