...
  • 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>IEEE Transactions on Industrial Electronics >Fixed-Time Formation Control of Multirobot Systems: Design and Experiments
【24h】

Fixed-Time Formation Control of Multirobot Systems: Design and Experiments

机译：多机罗系统的定期形成控制：设计与实验

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Time delays exist in network-connected systems. Especially for vision-based multirobot systems, time delays are diverse and complicated due to the communication network, camera latency, image processing, etc. At the same time, many tasks, such as searching and rescue, have timing requirement. This paper focuses on fixed-time formation control of multirobot systems subject to delay constraints. First, predictor-based state transformation is employed for each robot to deal with the input delay, and the uncertain terms remained in the transformed systems are carefully considered. Then, a couple of nonlinear fixed-time formation protocols are proposed for the multirobot systems with respectively undirected and directed topology, and the corresponding settling time is derived by using the Lyapunov functions. In particular, the upper-bound estimation of the formation settling time is explicitly given irrelevant to the initial conditions. Finally, the protocols are validated through a numerical simulation example and then implemented on an E-puck robots platform. Both simulation and experimental results demonstrate the effectiveness of the proposed formation protocols.
机译：网络连接系统中存在时间延迟。特别是对于基于视觉的多机罗多机系统，由于通信网络，相机延迟，图像处理等，时间延迟是多样化的并且复杂化。同时，许多任务（例如搜索和救援）都具有定时要求。本文重点介绍多罗频系统的定时形成控制，延迟约束。首先，采用基于预测的状态变换来处理输入延迟，并且仔细考虑留在变换系统中的不确定术语。然后，提出了几种非线性定时形成协议，用于分别是非向导和定向的拓扑结构的多机罗多系统，并且通过使用Lyapunov函数来导出相应的沉降时间。特别地，明确地将形成沉降时间的上​​限估计与初始条件无关。最后，通过数值模拟示例验证协议，然后在E-PACK机器人平台上实现。仿真和实验结果均证明了所提出的形成方案的有效性。

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