基于领导者-跟随者思路的多轮式移动机器人编队控制方式

学位博论文基于领导者--跟随者思路的多轮式移动机器人编队控制方式MultipleWheeledMobileRobotFormationControlMethodBasedonLeader-FollowerStrategy作者姓名：贾瑞明工程领域：车辆工程学号：31603091指导教师：岳明教授完成日期：2018-04-30大连理工学校DalianUniversityofTechnology万方数据大连交大本科学位论文独创性申明作者郑重声明：所呈交的学位论文，是本人在讲师的指导下进行研究工作所获得的成果。尽我所知，除文中尚未注明引用内容和感谢的地方外，本论文不包括其它个人或集体即将发表的研究成果，也不包括其它已申请学位或其他功能使用过的成果。与我共同工作的同志对本研究所做的贡献均已在论文中做了细化的表明并表示了谢意。若有不实之处，本人愿意分担相关法律责任。学位论文题目：基于领导者-跟随者思路的多轮式移动机器人编队控制方式作者签名：日期：年月日万方数据北京师范学院学位博论文-I-摘要多智能模式统通过协同才能完成个体能够完成的复杂任务，具有任务执行效益高，能源损耗少，个体故障风险低等各种缺点，因此在工业制造、交通物流、军事攻防、航空航天等领域具备广泛的应用。

编队控制难题是多智能模式统的基础和关键性难题，本文以智能轮式移动机器人为研究对象，采用领导者-跟随者编队策略，对编队机器人平台协调性与个体机器人稳定性控制展开深入探究。首先，为准确表述多机器人平台，通过探讨机器人非完整约束，建立机器人运动学建模；同时，应用欧拉-拉格朗日能量法结合机器人非完整约束与劳斯定理，详细的推论轮式移动机器人动力学建模，并借助降阶技巧处理非完整约束项，得到简化动力学建模；在此基础上，基于领导者-跟随者编队控制思路，建立包括距离、方位角和姿态角偏差信息的多机器人编队模型，该模型能同时表述编队机器人位置关系和姿态关系。其次，为推动多轮式机器人编队协调控制，分别采取模型预测控制(ModelPredictiveControl,MPC)和线性二次型最优控制(LinearQuadraticRegulator,LQR)设计控制器，实现机器人编队协调控制。通过对比仿真预测两种方式的控制效果，MPC控制器具备更稳固的控制输入和更小的超调量，综合性能优于LQR方法。再次，为提升复杂环境下个体机器人稳定性和编队系统鲁棒性，提出双闭环控制思路。外环应用MPC控制器推动领导者机器人的轨迹追踪，同时状况约束的编队MPC控制器用于多机器人队形协调控制。

内环考虑不确认性摩擦干扰，设计终端滑模控制器推动动力学迅速稳定性控制，并且借助设计自适应律，实现对摩擦干扰的即时估计，以提升动力学控制器的鲁棒性。最后，针对不同应用场景与拓扑关系，探讨了不同领导者-跟随者编队模式，分别为基础的SBC模式、编队避障SDC模式、多机器人SSC模式；针对所探讨的编队模式，分别阐述了基础SBC模式与避障SDC模式、SBC模式与SSC模式之间的切换策略。本文运用MATLAB/Simulink仿真系统建立多机器人领导者-跟随者控制平台模型，验证以下控制方式和控制思路的有效性。关键词：轮式移动机器人；领导者-跟随者；编队控制；模型预测控制；滑模控制万方数据基于领导者-跟随者思路的多轮式移动机器人编队控制方式-II-MultipleWheeledMobileRobotFormationControlMethodBasedonLeader-FollowerStrategyAbstractMulti-agentsystemscanaccomplishcomplextasksthatcannotbeaccomplishedbyindividualsthroughcooperation.Theyhavemanyadvantagessuchashightaskexecutionefficiency,lowenergyconsumption,andlowriskofindividualfailure.Therefore,theyarewidelyusedinindustrialproduction,transportation,militaryoffensiveanddefense,aerospaceandotherfields.Formationcontrolproblemisthebasisandkeyproblemofmulti-agentsystems.Thispapertakestheintelligentwheeledmobilerobot(WMR)astheresearchobject,adoptstheleader-followerformationstrategy,andconductsanin-depthstudyonthecoordinationoftheformationcontrolsystemandthestabilityoftheindividualrobot.Firstly,inordertoaccuratelydescribethemulti-robotsystem,thekinematicsmodelofrobotisobtainedbyanalyzingthenon-holonomicconstraintsoftherobot.Atthesametime,thedynamicsmodelofWMRwasdeducedindetailbyusingofEuler-LagrangeenergymethodcombiningwithnonholonomicconstraintandRouthequation,andthedynamicsmodelissimplifiedbyreducingthenonholonomicconstraints.Andthen,basedontheleader-followercontrolstrategy,theformationmodelincludingdistance,azimuthandattitudeangleerrorinformationisestablished.Thisformationmodelcansimultaneouslydescribetheformationrobotpositionrelationshipandattituderelationship.Secondly,inordertorealizecoordinatedcontrolofmulti-wheeledrobotformations,themodelpredictivecontrol(MPC)andlinearquadraticregulatorcontrol(LQR)areappliedtoachievethecoordinationcontrolofrobotformation.Bycomparingthecontroleffectofthetwomethods,theMPCcontrollerhasmorestablecontroloutputandhasasmallerovershoot,andthecomprehensiveperformanceisbetterthanLQRmethod.Thirdly,inordertoimprovethestabilityoftheindividualrobotandtherobustnessoftheformationsystemincomplexenvironment,adoubleclosed-loopcontrolstrategyisproposed.TheouterloopappliesMPCcontrollertorealizethetrajectorytrackingoftheleaderrobot,whilethestateconstraintMPCcontrollerisusedformulti-robotformationcoordinationcontrol.Theinnerlooptakeintoaccounttheuncertainfrictiondisturbance,andtheterminalslidingmodecontrollerareusedtoachievedynamicstabilitycontrol.Bydesigningtheadaptivelaw,thereal-timeestimationofthefrictiondisturbanceisrealizedtoimprovetherobustnessofthedynamiccontroller.万方数据大连交大本科学位博论文-III-Finally,accordingtodifferentapplicationscenariosandtheprevailingconditions,threeleader-followersformationmodesarediscussed.TheformationmodeldiscussedarebasisSBCmode,obstacleavoidanceSDCmode,multi-robotsSSCmode,respectively.Inviewoftheproposedformationmode,theswitchingstrategybetweenSBCandSDC,SBCandSSCarediscussed,respectively.TheMATLAB/Simulinksimulationplatformisusedtomodelthemultiplewheeledmobilerobotleader-followerformationcontrolsystem,andtoverifytheeffectivenessoftheabovecontrolmethodsandcontrolstrategies.KeyWords：WheeledMobileRobot(WMR);Leader-Follower;FormationControl;ModelPredictiveControl;SlidingModeControl万方数据基于领导者-跟随者思路的多轮式移动机器人编队控制方式-IV-目录摘要...............................................................................................................................IAbstract..............................................................................................................................II1绪论................................................................................................................................11.1课题背景及探究意义.......................................................................................11.2中国外研究现状...............................................................................................31.2.1国外研究状况........................................................................................31.2.2国内研究状况........................................................................................41.3编队策略与控制方式.......................................................................................51.4本文主要内容和结构安排...............................................................................72机器人编队控制系统建模............................................................................................92.1轮式移动机器人系统描述...............................................................................92.2运动学与动力学建模.....................................................................................112.3多机器人编队系统建模.................................................................................152.4本章小结.........................................................................................................183基于运动学的领导者-跟着者编队控制.....................................................................193.1LQR控制方法................................................................................................193.1.1LQR控制原理.....................................................................................193.1.2LQR控制器设计.................................................................................203.2MPC控制方式...............................................................................................223.2.1MPC控制原理....................................................................................223.2.2MPC控制器设计................................................................................243.3对比仿真预测.................................................................................................273.4本章小结.........................................................................................................304基于双闭环策略的多机器人编队系统协调稳定性控制..........................................324.1双闭环控制思路和控制目标.........................................................................324.2动力学终端滑模控制器.................................................................................334.3MPC编队控制器...........................................................................................354.4仿真预测.........................................................................................................364.5本章小结.........................................................................................................415领导者-跟随者编队控制关键难题探讨.....................................................................425.1领导者-跟随者编队控制方式........................................................................42万方数据北京师范学院学位博论文-V-5.1.1基础的SBC模式................................................................................425.1.2编队避障SDC模式............................................................................435.1.3多机器人SSC模式.............................................................................445.2领导者-跟随者编队控制切换策略................................................................455.2.1SBC与SDC切换策略........................................................................455.2.2SBC与SSC切换策略........................................................................465.3仿真预测.........................................................................................................475.4本章小结.........................................................................................................49结论............................................................................................................................51参考文献......................................................................................................................53攻读博之后发表学术论文情况............................................................................56致谢............................................................................................................................57大连交大本科学位论文版权使用授权书........................................................................58万方数据北京师范学院学位博论文-1-1绪论1.1课题背景及探究意义集群现象和编队行为是自然界中常用的现象，这些集群和编队一般由这些个个体构成，每个个体在群体中保持一定的独立性，同时每位个体通过一定的行为模式和信息交流而妨碍其它个体的行为，从而妨碍整个群体的行为，使群体产生目标一致的有序序列，进而推动群体目标的完成。

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