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IET Cyber-Systems and Robotics
IET Cyber-Systems and Robotics
    
针对机器人网络路径规划和移动控制的基于模糊推理并包含网络物理框架和自适应二阶滑模控制的路径规划算法
Anuj Nandanwar1, Ranjith Ravindranathan Nair2, Laxmidhar Behera1
1Department of Electrical Engineering, Indian Institute of Technology Kanpur, Kanpur 208016, India 2Department of Electronics and Communication Engineering, Indian Institute of Information Technology Pune, Pune 411048, India
Fuzzy inferencing-based path planning with a cyber-physical framework and adaptive second-order SMC for routing and mobility control in a robotic network
Anuj Nandanwar1, Ranjith Ravindranathan Nair2, Laxmidhar Behera1
1Department of Electrical Engineering, Indian Institute of Technology Kanpur, Kanpur 208016, India 2Department of Electronics and Communication Engineering, Indian Institute of Information Technology Pune, Pune 411048, India
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摘要： 在本研究中，作者研究了机器人网络的最优路径选择和相对运动控制问题。路径规划方案基于最优路径参数的模糊势函数设计。最优路径参数，如路径概率和传输速率，由一个离散优化问题得到。为了处理物理系统中的干扰和不确定性，本文提出了一种自适应的二阶滑动模式控制（SMC）方案，用于机器人网络的相对运动控制，其中干扰信号采用一种新型干扰观测器进行估计，控制器参数采用基于Lyapunov理论的自适应调整算法进行在线更新。仿真实验以及基于Pioneer P3-DX机器人的实时实验验证了所提出的路径规划器和控制方案的鲁棒性，同时得出了基于传统SMC和自适应SMC的对比结果。
Abstract: In this study, the authors address the problem of optimal routing and relative motion control in a network of robots. The path planning scheme has been designed using a fuzzy-based potential function employing optimal routing parameters. The optimal routing variables, such as routing probability and the transmission rate are obtained using a discrete optimisation problem. To deal with the disturbances and uncertainties in the physical system, an adaptive second-order sliding mode control(SMC) scheme has been proposed for the relative motion control of the networks of robots, where the disturbances are estimated using a novel disturbance observer and the controller parameters are updated online using an adaptive tuning algorithm derived based on Lyapunov theory. The robustness of the proposed path planner and the control scheme are validated through simulation as well as through real-time experimentation based on Pioneer P3-DX robots. The comparison results based on conventional SMC and adaptive SMC are also drawn.
收稿日期: 2020-04-16
通讯作者: Anuj Nandanwar     E-mail: anujnand@iitk.ac.in
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Anuj Nandanwar
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引用本文:

Anuj Nandanwar, Ranjith Ravindranathan Nair, Laxmidhar Behera. Fuzzy inferencing-based path planning with a cyber-physical framework and adaptive second-order SMC for routing and mobility control in a robotic network. IET Cyber-Systems and Robotics, 10.1049/iet-csr.2020.0020.

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http://www.zjujournals.com/iet-csr/CN/10.1049/iet-csr.2020.0020    或    http://www.zjujournals.com/iet-csr/CN/Y2020/V2/I3/1

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