Distributed consensus-based formation control for nonholonomic wheeled mobile robots using adaptive neural network

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• 作者：Zhaoxia Peng ; Guoguang Wen ; Shichun Yang ; Ahmed Rahmani
• 关键词：Formation control ; Nonholonomic wheeled robots ; Neural network ; Graph theory ; Filippov solution
• 刊名：Nonlinear Dynamics
• 出版年：2016
• 出版时间：October 2016
• 年：2016
• 卷：86
• 期：1
• 页码：605-622
• 全文大小：2,133 KB
• 刊物类别：Engineering
• 刊物主题：Vibration, Dynamical Systems and Control
  Mechanics
  Mechanical Engineering
  Automotive and Aerospace Engineering and Traffic
  
• 出版者：Springer Netherlands
• ISSN：1573-269X
• 卷排序：86

文摘

This paper investigates the distributed formation control problem for multiple nonholonomic wheeled mobile robots. A variable transformation is first proposed to convert the formation control problem into a state consensus problem. Then, when the dynamics of the mobile robots are considered, the distributed kinematic controllers and neural network torque controllers are derived for each robot such that a group of nonholonomic mobile robots asymptotically converge to a desired geometric pattern along the specified reference trajectory. The specified reference trajectory is assumed to be the trajectory of a virtual leader whose information is available to only a subset of the followers. Also the followers are assumed to have only local interaction. Moreover, the neural network torque controllers proposed in this work can tackle the dynamics of robots with unmodeled bounded disturbances and unstructured unmodeled dynamics. Some sufficient conditions are derived for accomplish the asymptotically stability of the systems based on algebraic graph theory, matrix theory, and Lyapunov control approach. Finally, simulation examples illustrate the effectiveness of the proposed controllers.