基于反步法的多移载工装协同作业编队控制策略

doi:10.16183/j.cnki.jsjtu.2021.325

上海交通大学学报 ›› 2023, Vol. 57 ›› Issue (1): 103-115.doi: 10.16183/j.cnki.jsjtu.2021.325

所属专题：《上海交通大学学报》2023年“机械与动力工程”专题

基于反步法的多移载工装协同作业编队控制策略

刘禹铭¹, 赵勇¹(), 董正建², 王平², 姬煜琦²

1.上海交通大学上海市复杂薄板结构数字化制造重点实验室,上海 200240
2.上海飞机制造有限公司航空制造技术研究所,上海 201324

收稿日期:2021-08-20 修回日期:2021-10-08 出版日期:2023-01-28 发布日期:2023-01-13
通讯作者: 赵勇 E-mail:zhaoyong@sjtu.edu.cn.
作者简介:刘禹铭(1997-),硕士生,从事传感器数据融合、多智能体协同作业研究.
基金资助:
国家科技重大专项04专项子课题(2018ZX04006001-009)

Formation Control Strategy of Multiple Mobile Robots Cooperative Operation Based on Backstepping Method

LIU Yuming¹, ZHAO Yong¹(), DONG Zhengjian², WANG Ping², JI Yuqi²

1. Shanghai Key Laboratory of Digital Manufacture for Thin-Walled Structures, Shanghai Jiao Tong University, Shanghai 200240, China
2. Shanghai Aircraft Manufacturing Co., Ltd., Shanghai 201342, China

Received:2021-08-20 Revised:2021-10-08 Online:2023-01-28 Published:2023-01-13
Contact: ZHAO Yong E-mail:zhaoyong@sjtu.edu.cn.

摘要/Abstract

摘要：

研究了一种基于反步法的多移载工装协同作业控制策略,提出了基于改进人工势场法和纯轨迹跟踪法的期望运动状态规划方案,并根据自适应蒙特卡洛定位方法确定了实际运动状态的估计值,设计了反步法与虚拟领航跟随法结合的队列控制器.构建了基于机器人操作系统(ROS)环境的仿真模型,并开展仿真验证.结果表明:提出的队形误差计算方法能够提高误差估计精度,该编队控制策略能够使得队形误差在6.2 s内收敛,所设计的队形控制器能够满足多移载工装的作业要求.

关键词: 编队控制, 反步法, 运动状态, 状态估计

Abstract:

A multi-shift tooling coordinated operation control strategy based on the backstepping method is investigated, a desired motion state planning scheme based on the improved artificial potential field method and the pure trajectory tracking method is proposed, and the actual situation is determined according to the adaptive Monte Carlo positioning method. For the estimated value of the motion state, a queue controller in combination the anti-stepping method and the virtual pilot following method is designed. A simulation model based on the robot operation system (ROS) environment is constructed, and the simulation is verified. The results show that the proposed formation error calculation method can improve the accuracy of error estimation. The formation control strategy can make the formation error converge within 6.2 s, and the designed formation controller can meet the operation requirements of multi-shift tooling.

Key words: formation control, backstepping method, movement state, state estimation

中图分类号:

TP249

刘禹铭, 赵勇, 董正建, 王平, 姬煜琦. 基于反步法的多移载工装协同作业编队控制策略[J]. 上海交通大学学报, 2023, 57(1): 103-115.

LIU Yuming, ZHAO Yong, DONG Zhengjian, WANG Ping, JI Yuqi. Formation Control Strategy of Multiple Mobile Robots Cooperative Operation Based on Backstepping Method[J]. Journal of Shanghai Jiao Tong University, 2023, 57(1): 103-115.

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参考文献 20

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物理量	取值
作业空间/m	40,60
长、宽、高/mm	900,700,300
离地间隙/mm	20
雷达距离精度/cm	2
雷达距离误差协方差	0.001
雷达角度精度	<0.5^°
雷达角度误差协方差	0.0001
末端精度/cm	?5
旋转半径/cm	0
队列距离/cm	25
速度误差协方差	0.01

跟随机器人编号	追踪时间/s
跟随机器人编号	X方向	Y方向	角度
1	3.5021	5.5021	4.2345
2	4.2987	4.2987	6.1251
3	2.1342	2.1342	3.2134
4	3.2342	4.9234	3.4321

基于反步法的多移载工装协同作业编队控制策略

Formation Control Strategy of Multiple Mobile Robots Cooperative Operation Based on Backstepping Method

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