摘要
针对具有模型不确定的多移动机器人的编队系统,研究使闭环系统渐近稳定的鲁棒预测状态反馈控制器设计问题。首先,根据单移动机器人路径跟踪的误差模型推导出多移动机器人编队系统模型。同时考虑实际情况中加速度计、速度编码器等传感器导致的测量误差等因素,得到具有不确定参数的多移动机器人编队模型。然后,采用线性矩阵不等式（LMIs）处理方法求解一个凸优化问题,给出控制器求解方法。最后通过仿真验证所提方法是一种有效的编队控制策略。
The robust predictive state feedback controller is designed in this paper to ensure the closea-loop system asymptotically stable for a formation system of multiple mobile robots with model uncertainty. Firstly, the path tracking error model of a single mobile robot is extended to the model of the formation system. Considering the error of measurement caused by the accelerometer and the speed encoder, the formation model with uncertain parameters is proposed. Furthermore, technology to design the state feedback controller formation control is demonstrated by simulation. a convex optimization problem is solved by using LMIs Finally, the effectiveness of the proposed method for
出处
《控制工程》
CSCD
北大核心
2018年第2期267-272,共6页
Control Engineering of China
基金
国家自然科学基金(61403344)
浙江省自然科学基金(LZ15F030003,LY17F030019)
关键词
鲁棒预测控制
编队控制
参数不确定
线性矩阵不等式
Robust predictive control
formation control
parameter uncertainty
linear matrix inequality
