• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Mechatronics, 2009. ICM 2009 >A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation
【24h】

A multi-layer control scheme for multi-robot formations with adaptive dynamic compensation

机译：具有自适应动态补偿的多机器人编队的多层控制方案

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This paper presents a multilayer scheme to control a formation of three mobile robots. Each layer works as an independent module, dealing with a specific part of the problem of formation control, thus giving to the system more flexibility. In order to reduce formation errors, the proposed architecture includes a layer which performs an adaptive dynamic compensation, using a robust updating law, which compensates for each robot dynamics. The controller is able to guide the robots to the desired formation, including the possibility of time-varying position and/or shape. Stability analysis is performed for the closed-loop system, and the result is that the formation errors are ultimately bounded. Finally, simulation results for a group of three unicycle-like mobile robots are presented, which show that system performance is improved when the adaptive dynamic compensation layer is included in the formation control scheme.
机译：本文提出了一种多层方案来控制三个移动机器人的形成。每层作为一个独立的模块，处理地层控制问题的特定部分，从而为系统提供更大的灵活性。为了减少编队误差，所提出的体系结构包括一个层，该层使用健壮的更新定律执行自适应动态补偿，该定律可补偿每个机器人的动力学。控制器能够将机器人引导至所需的编队，包括随时间变化的位置和/或形状的可能性。对闭环系统进行稳定性分析，结果是最终限制了地层误差。最后，给出了一组三个单轮类移动机器人的仿真结果，结果表明，当编队控制方案中包含自适应动态补偿层时，系统性能得到了改善。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号