Abstract
This paper addresses output-feedback formation control of a group of wheeled mobile robots with saturating actuators. A virtual leader–follower strategy and a passivity-based design procedure are utilized to propose an adaptive neural network formation controller together with a nonlinear observer for the performance improvement of robots formation. The main tactic for the enhancement of the formation controller performance is the effective compensation of the actuators saturation nonlinearity by using neural networks and saturation functions. The need for velocity measurements is eliminated by a saturated observer that reduces unwanted peaks in the velocity estimates. A stability analysis is presented by using Lyapunov’s direct method. Finally, simulation results illustrate the efficiency of the proposed controller compared with existing results.
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