TY - GEN
T1 - Hierarchical Decomposition and Prescribed Performance Bound based Adaptive Control for Leader-Follower Formation of Uncertain Nonholonomic Mobile Robots
AU - Shen, Jiajun
AU - Wang, Wei
AU - Lu, Jinhu
AU - Deng, Chao
N1 - Publisher Copyright:
© 2020 IEEE.
PY - 2020/12/13
Y1 - 2020/12/13
N2 - In this paper, the cooperative formation control problem is investigated for multiple two-wheeled mobile robots with unknown parameters. By combining the hierarchical decomposition and prescribed performance bound (PPB) technique, distributed adaptive formation controllers are designed based on dynamic surface control. It is proved in the Lyapunov sense that all the closed-loop signals are semi-globally bounded and the tracking error converges to a compact set, which can be made arbitrarily small by adjusting the design parameters appropriately. Furthermore, formation maintenance, connectivity preservation and collision avoidance can be achieved with the proposed control scheme. Simulations are also given to verify the effectiveness of the theoretical results.
AB - In this paper, the cooperative formation control problem is investigated for multiple two-wheeled mobile robots with unknown parameters. By combining the hierarchical decomposition and prescribed performance bound (PPB) technique, distributed adaptive formation controllers are designed based on dynamic surface control. It is proved in the Lyapunov sense that all the closed-loop signals are semi-globally bounded and the tracking error converges to a compact set, which can be made arbitrarily small by adjusting the design parameters appropriately. Furthermore, formation maintenance, connectivity preservation and collision avoidance can be achieved with the proposed control scheme. Simulations are also given to verify the effectiveness of the theoretical results.
UR - https://www.scopus.com/pages/publications/85100087000
U2 - 10.1109/ICARCV50220.2020.9305447
DO - 10.1109/ICARCV50220.2020.9305447
M3 - 会议稿件
AN - SCOPUS:85100087000
T3 - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
SP - 1256
EP - 1261
BT - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE International Conference on Control, Automation, Robotics and Vision, ICARCV 2020
Y2 - 13 December 2020 through 15 December 2020
ER -