Anti-Disturbance Fixed-Time Formation Control of Multi-Mobile Robots via Event-Triggered Mechanism

被引：0
|
作者：
Wang J.-A. [1 ,2 ]
Yan H.-X. [1 ,2 ]
Zhao Z.-C. [1 ,2 ]
机构：
[1] College of Electronics Information Engineering, Taiyuan University of Science and Technology, Shanxi, Taiyuan
[2] Shanxi Key Laboratory of Advanced Control and Equipment Intelligence, Shanxi, Taiyuan
来源：
Tien Tzu Hsueh Pao/Acta Electronica Sinica | 2023年 / 51卷 / 05期
关键词：
disturbance observer; event-triggered; fixed-time; formation control; limited communication resources; mobile robots;
D O I：
10.12263/DZXB.20211610
中图分类号：
学科分类号：
摘要：
For the formation control problem of uncertain multi-mobile robot system, to save limited communication resources, an event-triggered fixed-time formation control method is proposed based on anti-disturbance observer. Firstly, an adaptive fixed-time sliding mode disturbance observer (AFSMDO) is developed to estimate model parameter uncertainty and unknown disturbance. Then, on the basis of the designed disturbance observer, combined with backstepping and fixed-time theory, as well as introducing event-triggered mechanism, a fixed-time distributed formation control method is designed to achieve formation task. The setting-time is independent on the system’s initial system state. The Zeno behavior is excluded through theoretical analysis. Finally, the numerical simulations of three mobile robots are studied to verify the effectiveness of the proposed methods. © 2023 Chinese Institute of Electronics. All rights reserved.
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页码：1256 / 1265
页数：9
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