Research On Leader-follower Based Path Following Cooperative Control For Multi-robot Systems

The rapid development of computer science and network communication technology have broadened the way for the research and application of robotics.With the increasing difficulty of a single robot task,the advantages of collaborative control of multi-robot systems become more and more obvious.The research on multi-robot system combines mechatronics,sensor technology,information processing,computer technology,cybernetics,artificial intelligence and other multi-disciplinary research results,and has important value in theoretical research and practical application.In this paper,the path following control of multi robot system was studied based on the leader-follower control idea.In the first chapter,combining with the current research background of this topic,the research and development status of multi-robot system cooperative control at home and abroad were briefly introduced.Furthermore,the basic theory of nonlinear systems was briefly introduced from the aspects of algebraic graph theory,matrix theory,system asymptotic stability and consistency theory.The related conclusions or theorems were given to provide the theoretical basis for the follow-up research of multi-robot system cooperative control.In the second chapter,the formation control structure and communication technology of the multi-robot system were introduced for the basic problems of formation,reference point selection,formation maintenance,and formation consistency in the formation control of the multi-robot system.Then,several common formation control methods in general multi-robot systems were given.In the third chapter,using the design idea of backstepping control,the following control algorithm based on backstepping method is proposed,which enabled the multi-robot system to complete the formation following control of the expected posture.The stability of the controlled system was analyzed by Lyapunov direct method,and the effectiveness of the proposed algorithm was verified by two different simulation experiments under the condition of constant and variable target velocity.In chapter 4,extending the method of the traditional single robot trajectory tracking,a new double-layer formation control structure was designed to solve the coordination control problem of multi-robot system.The system controller was divided into two layers structure.In the first layer,the formation controller based on graph theory was used to control the deviation of each robot so as to maintain the whole formation.In the second layer,the formation system was driven by the following controller based on Lyapunov to follow the virtual pilot along the preset trajectory.Finally,the effectiveness of the two-layer formation control structure is verified by static and dynamic simulation experiments.In Chapter 5,aiming at the collision problem of multi-robot system in multi-dimensional space,a collision free consistent control strategy based on monotone system theory was proposed.In this chapter,the one-dimensional and multi-dimensional cases were analyzed and demonstrated respectively.The weighted order of the system was completed by introducing a weight vector,and the uniqueness of the order was determined by the lexicographic order.Then,the collision-free consensus was achieved.Finally,the effectiveness of the collision-free consistency algorithm is verified by the simulation results of different weighted sequences.