基于反步法的异构模型编队控制器设计
异构模型统一化
UGV模型
p ˙ x i ( t ) = V i ( t ) cos θ i ( t ) , p ˙ y i ( t ) = V i ( t ) sin θ i ( t ) , θ ˙ i ( t ) = ω i ( t ) , V ˙ i ( t ) = F i ( t ) M r i , ω ˙ i ( t ) = τ i ( t ) J r i , \begin{array}{l} \dot{p}_{x i}(t)=V_{i}(t) \cos \theta_{i}(t), \\ \dot{p}_{y i}(t)=V_{i}(t) \sin \theta_{i}(t), \\ \dot{\theta}_{i}(t)=\omega_{i}(t), \\ \dot{V}_{i}(t)=\frac{F_{i}(t)}{M_{r i}}, \\ \dot{\omega}_{i}(t)=\frac{\tau_{i}(t)}{J_{r i}}, \end{array} p˙xi(t)=Vi(t)cosθi(t),p˙yi(t)=Vi(t)sinθi(t),θ˙i(t)=ωi(t),V˙i(t)=MriFi(t),ω˙i(t)=Jriτi(t),
其中 p i ( t ) = [ p x i ( t ) , p y i ( t ) ] T p_i(t)=[p_{xi}(t) ,p_{yi}(t)]^T pi(t)=[pxi(t),pyi(t)]T是第 i i i个UGV的位置, V i ( t ) V_i(t) Vi(t)是线速度, w i ( t ) w_i(t) wi(t)是角速度, θ i ( t ) \theta_i(t) θi(t)是第 i i i个UGV的方位角, M r i M_{ri} Mri是UGV质量, J r i J_{ri} Jri是转动惯量, τ i \tau_i τi是UGV的输入扭矩, F i ( t ) F_i(t) Fi(t)是输入力。
由于非完整约束,系统状态矩阵的行列式为零。为了解决这个问题,人们认为机器人的前端必须在队形中。机器人的前点可定义为手点
p x i h ( t ) = p x i ( t ) + L r c o s θ i ( t ) , p y i h ( t ) = p y i ( t ) + L r s i n θ i ( t ) p_{xi}^h(t)=p_{xi}(t)+L_rcos\theta_i(t),\\ p_{yi}^h(t)=p_{yi}(t)+L_rsin\theta_i(t)\\ pxih(t)=pxi(t)+Lrcosθi(t),pyih(t)=pyi(t)+Lrsinθi(t)
UAV模型,四旋翼
p ¨ x i ( t ) = ( cos ϕ i ( t ) sin θ i ( t ) cos ψ i ( t ) + sin ϕ i ( t ) sin ψ i ( t ) ) U 1 i M q i , p ¨ y i ( t ) = ( cos ϕ i ( t ) sin θ i ( t ) sin ψ i ( t ) − sin ϕ i ( t ) cos ψ i ( t ) ) U 1 i M q i , p ¨ z i ( t ) = − g + ( cos ϕ i ( t ) cos θ i ( t ) ) U 1 i M q , ϕ ¨ i ( t ) = θ ˙ i ( t ) ψ ˙ i ( t ) ( I y − I z I x ) − J q I x θ ˙ i ( t ) Ω i + I q I x U 2 i , θ ¨ i ( t ) = ϕ ˙ i