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轮式移动机器人瞬态模型鲁棒自适应同步终端滑模编队控制 (Robust adaptive synchronized formation control for the transient model of wheeled mobile robots with terminal sliding mode)

Zhao, Dongya, Cui, Wenhao, Yan, Xinggang (2020) 轮式移动机器人瞬态模型鲁棒自适应同步终端滑模编队控制 (Robust adaptive synchronized formation control for the transient model of wheeled mobile robots with terminal sliding mode). Control Theory & Application (控制理论与应用), 37 (2). pp. 423-430. ISSN 1000-8152. (doi:10.7641/CTA.2019.80931) (KAR id:79788)

Abstract

In the cooperative formation of wheeled mobile robots, the problem how to guarantee that mobile robots can track their own trajectories while synchronizing motions with others puts forward higher requirements on the design of control algorithms. A robust adaptive synchronized control with terminal sliding mode based on the algebraic graph theory is developed to solve this problem. Firstly, the nonlinear kinematics transient model of wheeled mobile robot is introduced. This model avoids the problem of multi-input coupling mutual interference in general kinematics model. Then, the synchronized control algorithm is designed according to the cross-coupling errors to realize the motion synchronization, and the external disturbance of the system is suppressed by the robust control. The adaptive law ensures the real-time adjustment of the switching gain. The stability analysis is carried out by using the Lyapunov method, which proves the convergence of the system tracking errors. Finally, the effectiveness of the designed algorithm is verified by MATLAB simulation.

Item Type: Article
DOI/Identification number: 10.7641/CTA.2019.80931
Subjects: T Technology
Divisions: Divisions > Division of Computing, Engineering and Mathematical Sciences > School of Engineering and Digital Arts
Depositing User: Xinggang Yan
Date Deposited: 27 Jan 2020 10:09 UTC
Last Modified: 16 Feb 2021 14:11 UTC
Resource URI: https://kar.kent.ac.uk/id/eprint/79788 (The current URI for this page, for reference purposes)

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