事件触发下多移动机器人抗干扰固定时间预定性能编队

王健安; 闫慧娴; 张君如; 张捷; 李明杰; 赵志诚

doi:10.16383/j.aas.c230654

事件触发下多移动机器人抗干扰固定时间预定性能编队

doi: 10.16383/j.aas.c230654 cstr: 32138.14.j.aas.c230654

王健安^{1, 2,},
闫慧娴^{1, 2,},
张君如^{1, 2,},
张捷^{1, 2,},
李明杰^{1, 2,},
赵志诚^{1, 2,}

1.
太原科技大学电子信息工程学院太原 030024
2.
先进控制与工业智能山西省重点实验室太原 030024

基金项目: 国家自然科学基金(62003077), 山西省科技重大专项“揭榜挂帅”项目(202301020101001, 202201090301013), 山西省重点研发计划(202202100401002, 2022ZDYF069), 山西省基础研究计划(20210302123210, 202203021222186)资助

详细信息

作者简介:
王健安：太原科技大学电子信息工程学院教授. 主要研究方向为多智能体系统协同控制和复杂网络. 本文通信作者. E-mail: jiananwang@tyust.edu.cn

闫慧娴：太原科技大学电子信息工程学院硕士研究生. 主要研究方向为移动机器人编队和多智能体系统协同控制. E-mail: yanhuixian@sxgy.edu.cn

张君如：太原科技大学电子信息工程学院硕士研究生. 主要研究方向为复杂网络预设性能同步. E-mail: mzhangjr6@163.com

张捷：太原科技大学电子信息工程学院副教授. 主要研究方向为多智能体系统的协同输出调节和容错控制. E-mail: zhangjie_hao666@163.com

李明杰：太原科技大学电子信息工程学院教授. 主要研究方向为数据驱动的复杂工业过程建模与控制. E-mail: limingjie@tyust.edu.cn

赵志诚：太原科技大学电子信息工程学院教授. 主要研究方向为先进控制理论与应用. E-mail: zhzhich@tyust.edu.cn

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- 文章访问数: 39
- HTML全文浏览量: 28
- 被引次数: 0
出版历程
- 收稿日期: 2023-10-24
- 录用日期: 2025-02-08
- 网络出版日期: 2025-06-11

Anti-disturbance Fixed-time Prescribed Performance Formation Control of Multi-mobile Robots via Event-triggered Mechanism

WANG Jian-An^{1, 2
,},
YAN Hui-Xian^{1, 2
,},
ZHANG Jun-Ru^{1, 2
,},
ZHANG Jie^{1, 2
,},
LI Ming-Jie^{1, 2
,},
ZHAO Zhi-Cheng^{1, 2
,}

1.
School of Electronic Information Engineering, Taiyuan University of Science and Technology, Taiyuan 030024
2.
Shanxi Key Laboratory of Advanced Control and Industrial Intelligence, Taiyuan 030024

Funds: Supported by National Natural Science Foundation of China (62003077), Major Science and Technology Project of Shanxi Province (202301020101001, 202201090301013), Key Research and Development Program of Shanxi Province (202202100401002, 2022ZDYF069), and Fundamental Research Program of Shanxi Province (20210302123210, 202203021222186)

More Information

Author Bio:
WANG Jian-An　Professor at the School of Electronic Information Engineering, Taiyuan University of Science and Technology. His research interest covers cooperative control of multi-agent systems and complex networks. Corresponding author of this paper

YAN Hui-Xian　Master student at the School of Electronic Information Engineering, Taiyuan University of Science and Technology. Her research interest covers formation of mobile robots and cooperative control of multi-agent systems

ZHANG Jun-Ru　Master student at the School of Electronic Information Engineering, Taiyuan University of Science and Technology. Her main research interest is prescribed performance synchronization of complex networks

ZHANG Jie　Associate professor at the School of Electronic Information Engineering, Taiyuan University of Science and Technology. His research interest covers cooperative output regulation and fault-tolerant control of multi-agent systems

LI Ming-Jie　Professor at the School of Electronic Information Engineering, Taiyuan University of Science and Technology. His research interest covers data-driven modeling and control for complex industrial process

ZHAO Zhi-Cheng　Professor at the School of Electronic Information Engineering, Taiyuan University of Science and Technology. His research interest covers advanced control theory and applications

摘要

摘要: 考虑多移动机器人编队系统存在模型参数不确定、未知扰动和有限通信资源问题, 提出一种固定时间预定性能的事件触发编队控制方法. 首先, 设计新的固定时间干扰观测器以精确估计系统的复合扰动. 其次, 基于干扰观测器、预定性能函数、反步法和固定时间理论, 并考虑通信资源受限问题, 设计时变阈值事件触发的固定时间预定性能编队控制器, 使得编队误差在固定时间内收敛且满足预定性能要求. 所提出的触发机制可减少因控制器和执行器频繁通信造成的网络资源浪费, 且无Zeno行为发生. 最后, 通过对三个移动机器人进行编队仿真, 验证所提方法的有效性.
- 多移动机器人 /
- 编队控制 /
- 干扰观测器 /
- 预定性能 /
- 固定时间 /
- 事件触发
Abstract: This paper deals with the formation control problem of multi-mobile robots subject to uncertain model parameters, unknown disturbances and limited communication resources. An anti-disturbance event-triggered formation control method based on fixed-time prescribed performance is proposed. Firstly, a new fixed-time disturbance observer is designed to estimate the compound disturbance accurately. Then, based on the disturbance observer, prescribed performance function, backstepping method and fixed-time stability theory, an anti-disturbance fixed-time prescribed performance formation controller under time-varying threshold event-triggered mechanism is designed to save limited communication resources. The controller can make the formation errors converge to zero in a fixed setting-time and ensure that the static and dynamic performance satisfy the prescribed performance. The proposed time-varying threshold event-triggered mechanism can effectively reduce the waste of network resources caused by frequent communication between the controller and the actuator, and the Zeno behavior is excluded. Finally, the effectiveness of the proposed method is verified by the formation simulation of three mobile robots.
- Multi-mobile robot /
- formation control /
- disturbance observer /
- prescribed performance /
- fixed-time /
- event-triggered

HTML全文

图 1 领导−跟随者编队模型

Fig. 1 The leader-follower formation model

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图 2 编队跟踪控制示意图

Fig. 2 The formation tracking control diagram

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图 3 编队运动轨迹图

Fig. 3 Formation motion trajectory diagram

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图 4 跟踪误差曲线

Fig. 4 Tracking error curves

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图 5 不同预定性能参数下的跟踪误差对比

Fig. 5 Comparison of tracking errors under different prescribed performance parameters

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图 6 不同初始状态下的跟踪误差对比

Fig. 6 Comparison of tracking errors under different initial states

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图 7 复合扰动及其估计值

Fig. 7 The compound disturbance and its estimated value

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图 8 扰动观测误差对比

Fig. 8 Comparison of perturbation observation errors

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图 9 事件触发控制输入对比

Fig. 9 Comparison of event-triggered control inputs

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图 10 不同事件触发机制的触发间隔和触发时刻对比

Fig. 10 Comparison of triggering intervals and triggering moments for different event-triggered mechanisms

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图 11 PPC与NPPC跟踪误差对比

Fig. 11 Comparison of tracking error between PPC and NPPC

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表 1 移动机器人的初始状态

Table 1 The initial states of the mobile robots

状态	leader	follower1	follower2
$ q_1(0) $	$ [3,\; 4,\; \pi/6]^\mathrm{T} $	$ [0,\; 5,\; -\pi/6]^\mathrm{T} $	$ [2,\; 0,\; \pi/3]^\mathrm{T} $
$ v_1(0) $	$ [2,\; 0]^\mathrm{T} $	$ [2,\; 0]^\mathrm{T} $	$ [2,\; 0]^\mathrm{T} $
$ q_2(0) $	$ [0,\; 0,\; \pi/6]^\mathrm{T} $	$ [-9,\; 3,\; -\pi/6]^\mathrm{T} $	$ [-1,\; 0,\; \pi/6]^\mathrm{T} $
$ v_2(0) $	$ [2,\; 0]^\mathrm{T} $	$ [0,\; 0]^\mathrm{T} $	$ [0,\; 0]^\mathrm{T} $

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