Coordinated Control Research Of Heterogeneous Multi-Robot Systems

With the rapid development of modern technology and the steep increase in demand for manufacturing applications,robotics,as a new engine for accelerating national economic development,is of great significance in addressing this trend.The excellent characteristics of multi-robot systems such as flexibility,high efficiency,and strong robustness make them show great advantages in practical applications and carrier development,and they have now received wide attention from researchers in various fields.However,in reality,the individuals in the considered multi-robot systems are usually not identical and thus cannot be modeled with uniform dynamics.In this regard,this paper investigates the coordinated control of heterogeneous multi-robot systems based on distributed control protocols,considering the convergence rate,interaction topology,communication mode and other influencing factors,respectively,and the details of the research are as follows.A hierarchical predefined-time control algorithm based on a non-singular terminal sliding mode control method is proposed for the task-space predefined-time time-varying formation tracking problem of networked heterogeneous Euler-Lagrange multi-robot systems subject to parameter uncertainties and external disturbances,and the proposed algorithm allows the convergence time to be predetermined as control parameters.In addition,sufficient conditions for achieving task-space predefined-time time-varying formation tracking for heterogeneous multi-robot systems are obtained by utilizing the predefined-time stable control method and nearest-neighbor interaction rule.The prescribed-time coordinated control problem for heterogeneous multi-robot systems with matrix-weighted networks in the presence of input-to-state redundancy,uncertain dynamic terms,and external disturbances is investigated.A hierarchical control framework consisting of a distributed estimator algorithm and a local control algorithm is developed,and sufficient criteria for the designed algorithm to enable the system to converge within the prescribed time are derived by introducing the prescribed-time theory.In addition,the proposed algorithm is extended to the case of a directed matrix-weighted communication network in the presence of a leader,which demonstrates the generality of the proposed algorithm.The output scaled consensus problem of heterogeneous multi-robot systems with time-varying communication delays and external disturbances under matrix-weighted networks is discussed.A novel aperiodically intermittent control framework composed of two layers is designed based on the aperiodically intermittent communication approach and the corresponding control algorithm is proposed.Sufficient conditions for achieving the output scaled consensus of heterogeneous multi-robot systems are derived using Lyapunov stability theory and input-state stability theory.