论文标题
使用Koopman操作员理论在非线性歧管中的机器人形成控制
Robot formation control in nonlinear manifold using Koopman operator theory
论文作者
论文摘要
多代理系统的形成控制一直是一个杰出的研究主题，在过去的二十年中，涵盖了理论和实际领域。我们的研究深入研究了领导者的框架，解决了两个以前被忽视的关键方面。首先，我们研究了未知的非线性歧管的影响，从而引入了形成控制挑战的增加的复杂性。其次，我们解决了有限的追随者传感范围的实际限制，在准确地定位追随者的领导者方面构成了困难。我们的核心目标围绕着采用Koopman操作员理论和扩展动态模式分解，以为追随者机器人提供可靠的预测算法，以有效地预测领导者的位置。我们对椭圆形抛物面歧管的实验，利用两个方向的轮式机器人，验证了预测算法的有效性。
Formation control of multi-agent systems has been a prominent research topic, spanning both theoretical and practical domains over the past two decades. Our study delves into the leader-follower framework, addressing two critical, previously overlooked aspects. Firstly, we investigate the impact of an unknown nonlinear manifold, introducing added complexity to the formation control challenge. Secondly, we address the practical constraint of limited follower sensing range, posing difficulties in accurately localizing the leader for followers. Our core objective revolves around employing Koopman operator theory and Extended Dynamic Mode Decomposition to craft a reliable prediction algorithm for the follower robot to anticipate the leader's position effectively. Our experimentation on an elliptical paraboloid manifold, utilizing two omni-directional wheeled robots, validates the prediction algorithm's effectiveness.
