%0 Journal Article
%T 基于模糊滑模的多机器人系统编队控制
%A 钱殿伟
%J 智能系统学报
%D 2016
%R 10.11992/tis.201510017
%X 针对多机器人编队控制问题，提出了一种滑模控制与模糊逻辑相结合的控制方法。运用领航―跟随法，建立机器人系统的动力学模型。该模型具有不确定性，在不确定性上界未知的假设条件下，运用模糊逻辑，设计模糊补偿器，以逼近系统的不确定性部分。基于Lyapunov理论，证明所设计的模糊滑模编队控制系统具有渐近稳定性，同时模糊补偿器的逼近误差是收敛的。仿真结果表明，该方法可使多机器人系统迅速地形成所期望的队形，并在运动中保持该队形。</br>To resolve the formation problem resulting from a swarm of robots, a control scheme is proposed based on sliding mode control and fuzzy logic. A formation dynamic model is established utilizing the leader-follower approach. The model is subject to uncertainties. If the upper bounds of these uncertainties are unknown, then a fuzzy compensator can be adopted to approximate the uncertainties. From an Lyapunov approach, not only is the sliding-mode-based formation control system asymptotically stable, but the approximate error of the fuzzy compensator is also convergent. The simulation results demonstrate that the robots can rapidly form and maintain the desired specified geometrical shapes during movement
%K 多机器人
%K 编队控制
%K 不确定性
%K 滑模控制
%K 模糊逻辑&lt
%K /br&gt
%K multi-robot
%K formation control
%K uncertainties
%K sliding model control
%K fuzzy logic
%U http://tis.hrbeu.edu.cn/oa/darticle.aspx?type=view&id=201510017