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针对包含不确定动力学因素的轮式移动机器人的编队控制问题,运用虚拟领队的概念,提出一种基于径向基神经网络的自适应编队控制方法.首先通过虚拟领队的引入,将高维编队控制问题转化为单个移动机器人的跟随问题;然后,利用权值自适应变化的径向基神经网络在线估计跟随机器人不确定部分的上界值,大大简化了控制器的设计过程;最后,应用Lyapunov稳定性理论和Barbalat定理证明了闭环系统的稳定性.仿真结果表明了所提出控制策略的有效性.
Aiming at the formation control of wheeled mobile robots with uncertain dynamic factors, this paper proposes a method of adaptive formation control based on RBF neural network using the concept of virtual team leader.Firstly, through the introduction of virtual team leader, Then the control problem is transformed into a single mobile robot’s follow-up problem. Then, the RBF neural network whose weight adaptively changes variesly follows the upper bound of the uncertain part of the robot online, which greatly simplifies the design process of the controller. Finally, Lyapunov The stability theory and the Barbalat theorem prove the stability of the closed-loop system. The simulation results show the effectiveness of the proposed control strategy.