DISTRIBUTED CONTAINMENT CONTROL FOR MULTI-ROBOT SYSTEM BASED ON HAMILTON AND WAVELET NETWORK

Nuan Shao and Zhijia Guo

Keywords

Multi-robot system, distributed containment control, binocularvisual servo, Hamilton, wavelet neural network

Abstract

The distributed containment control problem for multi-robot with static leaders is studied based on the Hamilton and wavelet neural network in this paper. First, the topological relationship among the robots is built by using a directed graph, so as to make each follower determine its neighbour robots. Second, the guidance system is designed based on a binocular visual servo model, so as to provide desired tracking trajectories for the followers. Third, the port-controlled Hamilton model is built after preset feedback, and then passive controllers with strong robustness are designed. In addition, wavelet neural network adaptive method is used to approximate the uncertain term, so as to improve the control precision of the system. Finally, simulation research is carried out on the multiple two degrees-of-freedom robots, and the results show the validity of the proposed control strategy in comparison with the sliding mode adaptive control strategy.

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