Zuo Zongyu, Song Jiawei, Han Qing-Long
IEEE Trans Cybern. 2022 Sep;52(9):9404-9413. doi: 10.1109/TCYB.2021.3057335. Epub 2022 Aug 18.
This article is concerned with both consensus and coordinated path-following control for multiple nonholonomic wheeled mobile robots. In the design, the path-following control is decoupled into the longitudinal control (speed control) and the lateral control (heading control) for the convenience of implementation. Different from coordinated trajectory tracking control schemes, the proposed control scheme removes the temporal constraint, which greatly improves the coordination robustness. In particular, two new coordinated error variables describing a chasing-and-waiting strategy are introduced in the proposed coordinated path-following control for injective paths and circular paths, respectively. All the closed-loop signals have proved to be asymptotically stable in the Lyapunov sense. Finally, simulation results under three typical paths are presented to verify the proposed coordination controllers.
本文关注多个非完整轮式移动机器人的一致性和协调路径跟踪控制。在设计中，为便于实现，将路径跟踪控制解耦为纵向控制（速度控制）和横向控制（航向控制）。与协调轨迹跟踪控制方案不同，所提出的控制方案消除了时间约束，这极大地提高了协调鲁棒性。特别是，在所提出的针对单射路径和圆形路径的协调路径跟踪控制中，分别引入了两个描述追赶-等待策略的新协调误差变量。所有闭环信号在李雅普诺夫意义下已被证明是渐近稳定的。最后，给出了三种典型路径下的仿真结果，以验证所提出的协调控制器。
