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The segmented safe docking control framework for the fast assembly and docking of large-scale reconfigurable swarm in unit modalities, based on long-range global and short-range local perception, is proposed in this chapter. Through hierarchical safety constraints, adaptive anti-saturation, and the multiple extended state observer fusion disturbance estimation, the docking cascaded control framework achieves smoothness, robustness, and high-precision docking during the total combination reconfiguration process. The effectiveness of the proposed method is demonstrated through a series of simulations and experiments.

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Unit Modality Fast Docking Control in Large-Scale Environments

  • 章节

  • 发表日期：

    2025年

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  • Tao Jiang,
  • Zhi Zheng,
  • Lan Yao,
  • Jianchuan Ye,
  • Jianxiang Wang,
  • Jingxiang Feng

摘要

The segmented safe docking control framework for the fast assembly and docking of large-scale reconfigurable swarm in unit modalities, based on long-range global and short-range local perception, is proposed in this chapter. Through hierarchical safety constraints, adaptive anti-saturation, and the multiple extended state observer fusion disturbance estimation, the docking cascaded control framework achieves smoothness, robustness, and high-precision docking during the total combination reconfiguration process. The effectiveness of the proposed method is demonstrated through a series of simulations and experiments.