Multi-robot Cooperative Path Tracking With Finite Time And Bounded Control

Multi-agent system plays an irreplaceable role in all kinds of production and scientific research environments result from its strong robustness and adaptability.Meanwhile,the control methods to improve the coordinated work between multi-agent have become a recent research hotspot.In this paper,the coordinated path following problem of multi-agent dynamics model on given trajectory is studied based on the first-order and second-order integrator models.Due to the limitation of motion state and multiple complex control tasks(tracking,formation,finite time,saturation control),the existing control methods based on finite time control cannot work.In this paper,the potential energy function is redesigned.On this basis,the finite time bounded control law of cooperative path tracking is given and the condition of system stability is given.Numerical simulation shows the effectiveness of the method.In addition,based on the ROS multi robot platform,the experimental verification of the algorithm is given.This paper mainly completed the following work:1.For the finite time bounded control problem of cooperative path tracking of first-order multi-agent system,the existing potential energy function based on motion restriction will cause the system not to meet the finite time stability condition,so the potential energy function is redesigned,and the finite time bounded control law of cooperative path tracking based on the potential energy function redesign is given,which is given by using Lyapunov stability theory.And the effectiveness of the control law is verified by simulation.2.For the finite time bounded control problem of cooperative path tracking of second-order multi-agent system,the additional conditions for potential energy function are given.Combined with saturation nesting technology and back-stepping method,the finite time bounded control law of cooperative path tracking based on potential energy function redesign is given,and the stability of the system is given by using Lyapunov stability theory.And the effectiveness of the control law is verified by simulation.3.In order to better verify the effect of the first two contents in practical application,a multi-robot experimental platform based on communication is established.Based on the ROS simulation platform,the robot simulation experiment is completed.On this basis,the real experiment is completed.