Sadeghzadeh-Nokhodberiz Nargess, Sadeghi Mohammad Reza, Barzamini Rohollah, Montazeri Allahyar
Department of Control Engineering, Qom University of Technology, Qom, Iran.
Department of Electrical Engineering, Islamic Azad University Tehran Central Branch, Tehran, Iran.
Front Robot AI. 2024 Jul 15;11:1370104. doi: 10.3389/frobt.2024.1370104. eCollection 2024.
Coordinating the movements of a robotic fleet using consensus-based techniques is an important problem in achieving the desired goal of a specific task. Although most available techniques developed for consensus-based control ignore the collision of robots in the transient phase, they are either computationally expensive or cannot be applied in environments with dynamic obstacles. Therefore, we propose a new distributed collision-free formation tracking control scheme for multiquadcopter systems by exploiting the properties of the barrier Lyapunov function (BLF). Accordingly, the problem is formulated in a backstepping setting, and a distributed control law that guarantees collision-free formation tracking of the quads is derived. In other words, the problems of both tracking and interagent collision avoidance with a predefined accuracy are formulated using the proposed BLF for position subsystems, and the controllers are designed through augmentation of a quadratic Lyapunov function. Owing to the underactuated nature of the quadcopter system, virtual control inputs are considered for the translational ( and axes) subsystems that are then used to generate the desired values for the roll and pitch angles for the attitude control subsystem. This provides a hierarchical controller structure for each quadcopter. The attitude controller is designed for each quadcopter locally by taking into account a predetermined error limit by another BLF. Finally, simulation results from the MATLAB-Simulink environment are provided to show the accuracy of the proposed method. A numerical comparison with an optimization-based technique is also provided to prove the superiority of the proposed method in terms of the computational cost, steady-state error, and response time.
使用基于一致性的技术来协调机器人机群的运动，是实现特定任务预期目标中的一个重要问题。尽管为基于一致性的控制所开发的大多数现有技术都忽略了机器人在过渡阶段的碰撞情况，但它们要么计算成本高昂，要么无法应用于存在动态障碍物的环境中。因此，我们通过利用障碍李雅普诺夫函数（BLF）的特性，为多旋翼系统提出了一种新的分布式无碰撞编队跟踪控制方案。相应地，该问题在反步设置中被公式化，并推导出了一种能保证四旋翼飞行器无碰撞编队跟踪的分布式控制律。换句话说，利用所提出的用于位置子系统的BLF，将跟踪和智能体间具有预定义精度的避碰问题公式化，并通过增加二次李雅普诺夫函数来设计控制器。由于四旋翼飞行器系统的欠驱动特性，对于平移（x和y轴）子系统考虑虚拟控制输入，然后这些输入被用于为姿态控制子系统生成滚转角和俯仰角的期望值。这为每个四旋翼飞行器提供了一种分层控制器结构。通过考虑另一个BLF的预定误差极限，为每个四旋翼飞行器局部设计姿态控制器。最后，给出了MATLAB - Simulink环境下的仿真结果，以展示所提方法的准确性。还提供了与基于优化的技术的数值比较，以证明所提方法在计算成本、稳态误差和响应时间方面的优越性。
