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针对基于领航者-跟随者编队架构的多移动机器人系统,考虑存在执行器故障且拓扑结构为非平衡拓扑的情况,给出了多移动机器人实现编队运行的鲁棒容错控制算法。利用反馈线性化、降价等方法处理机器人模型的非线性及非完整约束等问题;考虑非平衡拓扑结构下的执行器故障问题,设计基于领航者-跟随者法的鲁棒容错控制方法;最后在Matlab/Simulink环境下对算法进行了软件仿真,仿真结果验证了所提控制策略的有效性。
Aiming at the multi-mobile robot system based on pilot-follower formation, a robust fault-tolerant control algorithm for multi-mobile robot to realize formation operation is given considering the existence of actuator failure and topological unbalanced topology. The nonlinear and nonholonomic constraints of robotic model are dealt with by means of feedback linearization and price reduction. The robust fault-tolerant control method based on pilot-follower method is designed considering the actuator failure problem under unbalanced topology. Finally, Matlab / Simulink environment of the software simulation, the simulation results verify the effectiveness of the proposed control strategy.