Simulation Research On Trajectory Tracking And Formation Tracking Control Of Multiple Mobile Robots

With the increasing complexity of work in reality,the traditional single wheeled mobile robot system has been unable to meet the needs of human beings,and the way of multi-wheeled mobile robot cooperative work has become the future development trend.Trajectory tracking and formation control are two research hotspots in the field of cooperative control of multiple mobile robots,which are widely concerned by scholars at home and abroad.At present,most of the research results on trajectory tracking control only consider the case of gradual tracking convergence,which means that the accurate time of trajectory tracking convergence cannot be known,which leads to the problem of finite time trajectory tracking control of multi-wheeled mobile robot systems has not been solved well;In order to solve the formation control problem of the multi-wheeled mobile robot systems without global information,a distributed control method is adopted in this thesis,which not only greatly reduces the communication cost,but also enhances the flexibility and robustness of the formation system.The main research work is as follows:Firstly,the modeling and analysis of the wheeled mobile robot motion system are carried out.Based on the theory of nonlinear system and the knowledge of nonholonomic constraint system,this thesis focuses on the comprehensive mathematical modeling of the typical nonholonomic constraint system of wheeled mobile robot,and derives its kinematic model and dynamic model.Then,the finite-time trajectory tracking control of the multi-wheeled mobile robot systems is studied.According to the kinematic and dynamic model of the robot and the idea of hierarchical control,the research and design of the finite-time controller-estimator trajectory tracking control algorithm are carried out,in which the bounded external interference and the uncertainty of parameters in the system are mainly considered.Finally,the distributed formation control of the multi-wheeled mobile robot systems without global information is studied.In this thesis,a Leader-Follower formation model is constructed based on the leader-following-based approach,and the relationship between the robots in the formation is planned by using the directed algebraic graph.A distributed formation control algorithm is proposed by using the distributed control strategy.In this thesis,the effectiveness and robustness of the above control algorithm are verified by MATLAB software simulation platform.Compared with the related research results,the designed algorithm has faster convergence rate and better stability,and its layered control framework essentially reduces the complexity of the control algorithm design process.At the same time,it provides theoretical guidance for the design of distributed controller of complex network system.