Research On Tracking And Formation Control Of Autonomous Mobile Vehicle Platform

Cultural performance has become an important enriching form of modern people's spiritual life.The application of information control technology to enrich the functions of stage devices has been more and more concerned by the cultural performance industry.As a carrier of performance,the integrated control of autonomous mobile platform and stage systems,and the formation control of multiple mobile platform performance have become hot research topics in the field of modern cultural performance services.In the real performance,the trajectory tracking failure in the integrated mobile platform control network,non-synchronization tracking of light,video and animation,and the group control performance failure of multiple mobile stations in case of main body fault and communication interference may occasionally happen.They are usually handled by means of manual intervention or increasing the hardware cost,which greatly limits the flexible and safe application of the autonomous mobile platform in various performance scenes.Therefore,performing the research on tracking and formation control of the autonomous mobile vehicle platform under the interference of performance scenes and system failure is of practical significance for promoting the better application of the autonomous mobile vehicle platform in modern performance.In this thesis,the autonomous mobile vehicle platform in the performance is taken as the research target,and starting with the single vehicle platform tracking and multiple vehicle platform coordination control problems,the advanced control methods such as predictive control and robust control are synthetically used such that the precise tracking control of mobile vehicle platform under the integrated stage camera monitoring and visual effect control system,and the formation control of mobile vehicle platform under the existence of main body fault and communication failure are deeply investigated.The main work and achievements of this thesis are summarized as follows:(1)Focusing on the actual needs of opera performance,a kind of hardware system of autonomous mobile platform is analyzed,and kinematic modeling and dynamic modeling for the autonomous mobile platform are performed according to the driving feature,which provides a solid support for the subsequent method research of tracking and formation control of autonomous mobile vehicle platform.(2)For the trajectory tracking control problem of autonomous mobile platform in presence of the integrated stage camera monitoring system,the information abnormality and actuator saturation constraint caused by the shaking of the platform and the influence of stage lighting in the performance scene have been solved.Firstly,a trajectory tracking error model based on visual image is constructed.Then,combining the problems of image information abnormal data caused by comprehensive interference and actuator saturation,the tracking error model is transformed into a linearized model with parametric uncertainty.Finally,the trajectory tracking controller is designed by using the model predictive control method and linear matrix inequality technology.The simulation and experimental results show that the algorithm can ensure that the autonomous mobile platform tracks the reference trajectory reliably.(3)Aiming at the problem that the autonomous mobile platform with stage visual effect light is not synchronized with light movement or video animation playback,a path tracking control method based on model prediction is proposed.Firstly,the baseline path of geometric center motion of visual output light is designed,and the parametric path tracking error model with abnormal measurement data and the parametric path updating model with time-delay state are established.A model predictive control method based on primal dual neural network is proposed to realize the path tracking under the constraints of visual effect boundary and platform driving.The simulation results show that the proposed method can effectively solve the problem of asynchronous tracking between the vehicle platform and visual effect output.(4)A fault-tolerant formation control method in presence of switching topology is proposed to solve the problem of security formation control of multiple homogeneous autonomous mobile platforms with main body fault.Firstly,the projection matching decomposition of the disturbance uncertainty in the control system is carried out,and then a distributed intermediate observer is designed to estimate various fault and unknown state signals.In addition,by using the Lyapunov stability theory and linear matrix inequality technique,the controller is designed based on the real time fault estimation.The practical simulation results show that this method can ensure the formation of vehicle platforms in the case of various faults such as actuator and sensor,and the observer gain can be effectively switched to avoid the continuous oscillation of the formation system,thus improving the safety and stability.(5)For the problem of security formation control of multiple heterogeneous autonomous mobile vehicle platforms with unknown network communication failure,a formation control method based on homogeneous Markov jump system is proposed.Firstly,the model of stochastic jumping system with state stochastic sampling,resource constraint and unknown disturbance is established.Then,the sufficient condition of stochastic asymptotic stability of formation control system is obtained by combining the decoupling technology,the Markov jump system analysis method and the Lyapunov stability theory,and the controller gain parameters are obtained by solving a group of linear matrix inequalities.The simulation results show that the designed control strategy can effectively realize the real-time formation control of heterogeneous autonomous mobile platforms in presence of communication failure.Finally,the conclusions of thesis are given and further research directions on the control of autonomous mobile vehicle platform are proposed.