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作者:

Dong, Lijing (Dong, Lijing.) | Yu, Fengfeng (Yu, Fengfeng.) | Du, Shengli (Du, Shengli.) | Liu, Kaige (Liu, Kaige.)

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摘要:

This brief focuses on solving the tracking problem of swarm robots with a non-cooperative target, where two core issues namely non-cooperative target and cross-domain collaboration are both taken into account. In order to solve the former issue, the trajectory of the non-cooperative target is constructed by a network model. This is more superior than the target system matrix observer-based method that adopted extensively in literature, as the latter one will cause the self-loop problem. Besides, the target information is no longer required in solving the regulation equation. Furthermore, a fixed-time cross-domain control method merely relying on outputs of a robot and its neighbours is proposed. Namely, the network-based fixed-time control method proposed in this brief is fully distributed without self-loop and requirement of the non-cooperative target's system matrix. With the proposed controller, the cross-domain robots are able to successfully track a non-cooperative target within a fixed time, which is also verified by some numerical simulations.

关键词:

fixed-time control distributed control non-cooperative target tracking Cross-domain robots

作者机构:

  • [ 1 ] [Dong, Lijing]Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China
  • [ 2 ] [Yu, Fengfeng]Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China
  • [ 3 ] [Liu, Kaige]Beijing Jiaotong Univ, Sch Mech Elect & Control Engn, Beijing 100044, Peoples R China
  • [ 4 ] [Dong, Lijing]Beijing Jiaotong Univ, Key Lab Vehicle Adv Mfg Measuring & Control Techno, Minist Educ, Beijing 100044, Peoples R China
  • [ 5 ] [Yu, Fengfeng]Beijing Jiaotong Univ, Key Lab Vehicle Adv Mfg Measuring & Control Techno, Minist Educ, Beijing 100044, Peoples R China
  • [ 6 ] [Liu, Kaige]Beijing Jiaotong Univ, Key Lab Vehicle Adv Mfg Measuring & Control Techno, Minist Educ, Beijing 100044, Peoples R China
  • [ 7 ] [Du, Shengli]Beijing Univ Technol, Coll Automat, Fac Informat Technol, Beijing 100124, Peoples R China
  • [ 8 ] [Du, Shengli]Beijing Univ Technol, Engn Res Ctr Intelligent Percept & Autonomous Cont, Minist Educ, Beijing 100124, Peoples R China

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来源 :

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS

ISSN: 1549-7747

年份: 2023

期: 7

卷: 70

页码: 2455-2459

4 . 4 0 0

JCR@2022

ESI学科: ENGINEERING;

ESI高被引阀值:19

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