Abstract
This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches.
Highlights
In the past decades, cooperative control of multiple mobile robots has been receiving significant attention owing to many potential advantages of such systems over single robot
To design the control inputs to guarantee the stability of the closed-loop system, it is assumed that there is “perfect velocity tracking.”
Reference [26] presents a kinematic controller based on the recedinghorizon leader-follower (RH-LF) control framework to solve the formation problem of multiple nonholonomic mobile robots
Summary
Cooperative control of multiple mobile robots has been receiving significant attention owing to many potential advantages of such systems over single robot. Formation control for multiple nonholonomic mobile robots, just consider the kinematic model by ignoring the robot dynamics. Reference [26] presents a kinematic controller based on the recedinghorizon leader-follower (RH-LF) control framework to solve the formation problem of multiple nonholonomic mobile robots. Motivated by the above discussions, this paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partial known dynamics. The corresponding robust adaptive torque controllers for mobile robots are developed for guaranteeing the robust velocity tracking, and the corresponding sufficient conditions are obtained for a group of nonholonomic mobile robots asymptotically converge to a desired geometric pattern with its centroid moving along the specified reference trajectory.
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