Abstract
Mobile robots are widely used in many applications, while various types of mobile robots and their control researches have been proposed in literature. Since swarm robots have higher flexibility and capacity for teamwork, this paper presents a grey estimator-based tracking controller for formation trajectory tracking of swarm robots. First, wheel-type mobile robots are used and modeled for the controller design. Then, a grey dynamic estimator is developed to estimate the environmental disturbance and model uncertainty for linear feedback compensation. As a result, the asymptotic trajectory tracking is assured, so that the application on the swarm robot formation is achieved for a multi-agent system. The computational complexity is slightly reduced by the design. Finally, in order to verify the reliability of swarm robot formation, several types of formation are maintained by the grey estimator-based feedback linearization controller.
Highlights
Professor Deng published the grey system theory for data processing in the international journal System & Control Letters in 1982 [1]
Since the grey estimator-based tracking controller assures stable path tracking, the trajectories of each robot of the swarm are achieved, such that the formation is assured for multi-agent system applications
The angle between the X axis and the wheeled autonomous mobile robot on the two-dimensional plane is denoted as x3(t)
Summary
Professor Deng published the grey system theory for data processing in the international journal System & Control Letters in 1982 [1]. The grey theory was applied on controlling autonomous mobile robots, e.g., the authors in [19] put forward a new grey hierarchical fuzzy controller for position prediction and path tracking. A multi-agent system is a collaborative intelligent system composed of many interactive computing entities which can solve complex tasks based on minimal or reduced data processing resources These systems are composed of many homogeneous or heterogeneous intelligent software or hardware agents. Since the grey estimator-based tracking controller assures stable path tracking, the trajectories of each robot of the swarm are achieved, such that the formation is assured for multi-agent system applications.
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