关键词: 多变量固定时间控制, 编队控制, 多变量超螺旋算法, 电驱动, 状态空间动力学模型, 非完整移动机器人

Abstract:

For the fixed-time formation control of electrically driven nonholonomic mobile robots in the presence of disturbances, a state space dynamic model of leader-follower formation including actuator dynamics is introduced. The formation controller is designed in two steps. Multivariable fixed-time controller is designed for kinematics model of leader-follower formation. In order to achieve velocity tracking under disturbances, a multivariable super-twisting continuous fixed-time voltage controller for the follower robot is designed through auxiliary input at the dynamics level. The proposed algorithm overcomes disturbances caused by the follower robot in formation, and ensures that the follower and the leader reach the desired formation and the follower follows the desired speed at a fixed time. The designed continuous control eliminates the chattering phenomenon of switch control. The fixed time of system convergence is given in advance by parameter design, which is independent of the initial state of the system. Stability of the control system is proved using the Lyapunov theory. The effectiveness of the proposed algorithm is verified by experimental simulation.

Key words: multivariable fixed-time control, formation control, multivariable super-twisting algorithm, electrically driven, state space dynamic model, nonholonomic mobile robot