基于层级约束的多无人车编队包含控制

doi:10.19562/j.chinasae.qcgc.2023.08.004

Abstract

Abstract:

An adaptive robust control method is proposed for the formation containment control of multiple unmanned ground vehicle system. The behavior constraints including formation， containment and collision avoidance are designed for the leader layer and the follower layer of the system， and the ideal driving force required to meet the constraints is obtained by the Udwadia-Kalaba equation. An adaptive robust control method based on fading adaptive law is proposed to estimate the uncertain parameters of the system so as to compensate for the influence of uncertainty. The Lyapunov function method is used to verify the stability of the designed control. Finally， the numerical simulation results show that the controlled system with time-varying uncertainty completes the formation containment task without any collision.

Key words: constraints, formation containment control, adaptive robust control, uncertainty

Qilin Wu,Yuming Lin,Zhengrong Cui,Xiaomin Zhao. Formation Containment Control for Multiple Unmanned Ground Vehicles Based on Hierarchical Constraints[J].Automotive Engineering, 2023, 45(8): 1333-1342.

Figures/Tables 12

References 26

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Formation Containment Control for Multiple Unmanned Ground Vehicles Based on Hierarchical Constraints

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References 26

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