Differential flatness-based distributed control of underactuated robot swarms

被引：2
|
作者：
An, Ningbo [1 ]
Wang, Qishao [1 ]
Zhao, Xiaochuan [2 ]
Wang, Qingyun [1 ]
机构：
[1] Beihang Univ, Dept Dynam & Control, Beijing 100191, Peoples R China
[2] China North Ind Grp Corp Ltd, Inst Comp Applicat Technol, Beijing 100095, Peoples R China
来源：
APPLIED MATHEMATICS AND MECHANICS-ENGLISH EDITION | 2023年 / 44卷 / 10期
基金：
中国国家自然科学基金;
关键词：
differential flatness (DF); underactuated robot; distributed control; synchronization; O193; QUADROTOR; TRACKING; SYSTEMS;
D O I：
10.1007/s10483-023-3040-8
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
This paper proposes a distributed control method based on the differential flatness (DF) property of robot swarms. The swarm DF mapping is established for underactuated differentially flat dynamics, according to the control objective. The DF mapping refers to the fact that the system state and input of each robot can be derived algebraically from the flat outputs of the leaders and the cooperative errors and their finite order derivatives. Based on the proposed swarm DF mapping, a distributed controller is designed. The distributed implementation of swarm DF mapping is achieved through observer design. The effectiveness of the proposed method is validated through a numerical simulation of quadrotor swarm synchronization.
引用
收藏
页码：1777 / 1790
页数：14
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