Robust Adaptive Coordinated Control Strategys For Multi-Robot Systems

In natural,there are a lot of amazing creatures of the phenomenon of group activities,such as the group of fish swimming,birds flocking,and ants moving.The nature of these complex behavior can not be done by individual command because the ability of a single individual is limited,but through a lot of individual collaboration can complete more complex tasks.The natural phenomena of these individual cooperation,also have caused a lot of scholars to extend a large number of research on multi-agent systems and also get a lot of meaningful research results.The trend of the application of multi agent system in practical engineering is becoming more and more clear and clear.It is obvious that the research on it is more close to the practical engineering application.Many mathematical models of mechanical systems can be represented by the Lagrange model,such as robots,autonomous vehicles,satellites and so on.The research on the cooperative control of Lagrange system is still very meaningful in the research of multi-agents system.In this paper,we first introduce the graph theory and the derivation of Lagrange model and some other basic knowledge.Then,a non affine system based on multi Lagrange system and uncertain multi robot system are studied.We prove the stability of the system and the stability of finite time by using Lyapunov theorem and corresponding control methods are proposed.The main contents of this paper are as follows:First of all,for a class of non affine multi robot system based on multi agent,we use the mean value theorem to separate the complex parts of the multi robot system and use the RBF neural network to approximate the nonlinearity.Finally,the Lyapunov stability theory is used to prove that the follower robots can follow the lead robot in a finite time and the simulation results show the effectiveness of the designed algorithm.Secondly,for a class of uncertain multi-robots systems with bounded parameters based on multi agents,the stability of the system will be destroyed because of the uncertain parameters.According to the parameters of the research system of the uncertainty and the communication between the individual robot lag problem in the perturbation range to design a robust controller system allows,so it can make the multi robot system has certain robustness.At the same time,the weighted memory function is used to prove that the multi-robot system can converge uniformly in finite time.The effectiveness of the design method is illustrated by an example.