The motion control algorithm of a group of mobile robots in conditions of uncertainty

Abstract

The motion control algorithm of a group of mobile robots in conditions of uncertainty

Gaiduk A.R., Kapustyan S.G., Shapovalov I.O.

Incoming article date: 11.10.2018

The article proposes an algorithm for the functioning of adaptive motion control systems of a group of mobile transport robots in conditions of uncertainty. The algorithm was developed based on the Markov method of identification and the method of analytical synthesis of systems with control by output and effects. The adaptive control system in which this algorithm is used has direct quality indicators not worse than those specified. The proposed algorithm can be used to create control systems for technical objects of various types, with previously unknown mathematical models.

Keywords: mobile robot, group, uncertainty, identification, Markov parameter, control by output and effects, system