Optimal Design of Adaptive Robust Control for Fuzzy Swarm Robot Systems
Optimal Design of Adaptive Robust Control for Fuzzy Swarm Robot Systems
复制标题
模糊群机器人系统自适应鲁棒控制优化设计
DOI：
10.1007/s40815-019-00626-w
复制
发表时间：
2019-06-01
影响因子：
4.3
通讯作者：
Zhao, Xiaomin
中科院分区：
文献类型：
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作者：
Dong, Fangfang;Chen, Ye-Hwa;Zhao, Xiaomin
研究了由N个机器人组成的不确定群机器人系统的运动控制问题。机器人通过吸引和排斥相互作用，这模仿了一些生物群体系统。系统中的不确定性可能是快时变的，并且具有未知的界，该界被假设为在一个指定的模糊集内。在此前提下，提出了一种自适应鲁棒控制方法。基于所提出的控制，最优设计问题下的模糊描述的不确定性制定。证明了该优化问题是易处理的，且解是唯一的。该优化问题的解以封闭形式表示。所得控制的性能是双重的。首先，它保证了群机器人系统的确定性性能（一致有界性和一致最终有界性），而不管实际值的不确定性。其次，最小化的模糊性能指标是有保证的。从而解决了模糊群机器人系统自适应鲁棒控制的优化设计问题。
Motion control for an uncertain swarm robot system consisting ofNrobots is considered. The robots interact with each other through attractions and repulsions, which mimic some biological swarm systems. The uncertainty in the system is possibly fast time varying and bounded with unknown bound, which is assumed to be within a prescribed fuzzy set. On this premise, an adaptive robust control is proposed. Based on the proposed control, an optimal design problem under the fuzzy description of the uncertainty is formulated. This optimal problem is proven to be tractable, and the solution is unique. The solution to this optimal problem is expressed in the closed form. The performance of the resulting control is twofold. First, it assures the swarm robot system deterministic performances (uniform boundedness and uniform ultimate boundedness) regardless of the actual value of the uncertainty. Second, the minimization of a fuzzy-based performance index is assured. Therefore, the optimal design problem of the adaptive robust control for fuzzy swarm robot systems is completely solved.