基于leader-follower的混合式多机器人编队控制方法
该方法利用领航者的位置信息, 引入反步控制实现跟随A UV 对虚拟A UV 的轨迹跟踪, 实现三维水下编队控制; 结合人工势场的方法变换队形, 有效地避开障碍物, 顺利地通过障碍物区域。 仿真研究表明, 该方法编队时间短, 差错率低, 实现了预期的控制效果, 验证了算... ...
An attitude-control scheme based on the backstepping technique is developed for controlling the relative attitude between the leader spacecraft and the follower spacecraft, and the adaptive control law is applied to deal with the uncertainties in the follower spacecraft attitude system. According to ...
最后将该方法应用于某编队飞行任务, 仿真结果表明此控制器能够实现其编队飞行控制, 具有良好的控制性能. 英文摘要 An attitude-control scheme based on the backstepping technique is developed for controlling the relative attitude between the leader spacecraft and the follower spacecraft, and the adaptive ...