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Method, system and server of stability guaranteeing model predictive control based on particle swarm optimization
Method, system and server of stability guaranteeing model predictive control based on particle swarm optimization
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机译：基于粒子群算法的稳定性保证模型预测控制方法，系统和服务器
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摘要
The present invention relates to a control method, system and server of the robot formation, in particular as relates to a reliable method of controlling a robot formation to form a flight, the system by controlling the robot and the server by using an algorithm to correct the flight particles in consideration of the orientation angle of the robot's unit as the plurality of the robot to form a uniform formation will. The present invention is as a prediction control based on the optimization of the particle clusters robot formation, corrected for the particles of each of the unit the robot, so as to predict from the last section before or prediction interval value for each direction of each unit of the robot will match each target direction comprising the step of modifying particles, the particles referred to is the means to the candidate (solution candidate) prediction interval for representing the behavior of the robot and of the unit, the last interval is referred to as a prediction control based on the predicted particle clusters optimization The whole have as a prediction interval at least one time period divided by the prediction control by initiating a control method of a robot characterized in that the formation means in the end of the prediction period, taking into account the direction of the target unit of each robot in accordance with the invention By modifying the particles of the robot unit by using the particles modified by the formation of the robot line to ensure that the particles can be modified by the algorithm stability and a reliable and efficient method of controlling a robot to control the robot formate formation, to provide a system and a server has an effect. ;
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