Multi-mobile-robot formation control method based on equivalent input disturbance observer

• Main Author: GUO YIJUN
• Format: Patent
• Language: Chinese; English
• Published: 09.12.2022
• Subjects: CONTROL OR REGULATING SYSTEMS IN GENERAL; CONTROLLING; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS ORELEMENTS; PHYSICS; REGULATING

The invention discloses a multi-mobile-robot formation control method based on an equivalent input disturbance observer. The multi-mobile-robot formation control method comprises the following steps: 1) establishing a multi-mobile-robot control system mathematical model considering communication time delay between formation robots and formation control problem description; and 2) designing a multi-mobile robot formation speed control law according to the formation control error dynamic equation. And 3) designing a formation mobile robot torque control law based on the equivalent input disturbance observer. And 4) analyzing the stability of the multi-mobile robot formation control system based on the equivalent input disturbance observer. According to the method, various uncertain factors suffered by the multi-mobile-robot formation system can be comprehensively considered, the modeling process of the system for the uncertain factors can be simplified, the accuracy and rapidity of disturbance estimation of the