College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China.
Key Laboratory of Systems & Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China.
ISA Trans. 2014 Mar;53(2):474-80. doi: 10.1016/j.isatra.2013.12.010. Epub 2014 Jan 2.
This paper proposes an adaptive proportional integral derivative (PID) algorithm to solve a formation control problem in the leader-follower framework where the leader robot's velocities are unknown for the follower robots. The main idea is first to design some proper ideal control law for the formation system to obtain a required performance, and then to propose the adaptive PID methodology to approach the ideal controller. As a result, the formation is achieved with much more enhanced robust formation performance. The stability of the closed-loop system is theoretically proved by Lyapunov method. Both numerical simulations and physical vehicle experiments are presented to verify the effectiveness of the proposed adaptive PID algorithm.
本文提出了一种自适应比例积分微分（PID）算法，用于解决领导者-跟随者框架中的编队控制问题，其中领导者机器人的速度对于跟随机器人是未知的。主要思想是首先为编队系统设计一些适当的理想控制律，以获得所需的性能，然后提出自适应 PID 方法来逼近理想控制器。结果，编队以更高的鲁棒编队性能得以实现。通过 Lyapunov 方法从理论上证明了闭环系统的稳定性。数值模拟和实物车辆实验都验证了所提出的自适应 PID 算法的有效性。
