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提出一种轨迹跟踪级联机器人编队控制方法.该方法有效结合距离-角度(-)控制和距离-距离(-)控制方案,并利用无迹卡尔曼滤波算法对Leader-Follower级联机器人系统的状态进行估计;根据状态估计结果设计输入-输出动态反馈控制规律,使得跟随机器人(Follower)准确跟踪领航机器人(Leader),确保编队的稳定性和较快的收敛性,并达到理想的编队控制效果.仿真实验验证了所提出方法的可行性.
A tracking control method for cascade robotics with trajectory tracking is proposed in this paper. The proposed method effectively combines the distance-angle (-) control with the distance-distance (-) control scheme and uses the unscented Kalman filter algorithm to control the Leader-Follower cascade robot system State is estimated. According to the result of state estimation, the input-output dynamic feedback control law is designed so that follower can accurately track the leader, ensure formation stability and convergence, and achieve the ideal formation control effect The simulation experiment verifies the feasibility of the proposed method.