Distributed Formation Control of Nonholonomic Wheeled Mobile Robots Subject to Longitudinal Slippage Constraints
Author(s)
Wang, Zhuping
Wang, Lei
Zhang, Hao
Vlacic, Ljubo
Chen, Qijun
Griffith University Author(s)
Year published
2021
Metadata
Show full item recordAbstract
This paper investigates the distributed formation control problem of multiple nonholonomic wheeled mobile robots within real environments. The formation pattern of the system adopts leader-follower structure and the communication topology among the multirobot system is modeled by a directed graph. Slippage is hard to avoid due to the possible existence of ice, sand, or muddy roads. To overcome the effect of slippage, an adaptive trajectory tracking controller for leader robot is designed, such that the leader robot can keep up with the virtual reference trajectory and estimate the real value of unknown slipping ratio accurately. ...
View more >This paper investigates the distributed formation control problem of multiple nonholonomic wheeled mobile robots within real environments. The formation pattern of the system adopts leader-follower structure and the communication topology among the multirobot system is modeled by a directed graph. Slippage is hard to avoid due to the possible existence of ice, sand, or muddy roads. To overcome the effect of slippage, an adaptive trajectory tracking controller for leader robot is designed, such that the leader robot can keep up with the virtual reference trajectory and estimate the real value of unknown slipping ratio accurately. In addition, it is difficult for each follower robot to obtain leader's states in a large formation system, so distributed formation controllers are designed based on distributed observers. It is shown that the proposed controllers can realize formation objective and overcome the slippage constraints at the same time. Finally, the effectiveness of the proposed controllers is verified by simulation results.
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View more >This paper investigates the distributed formation control problem of multiple nonholonomic wheeled mobile robots within real environments. The formation pattern of the system adopts leader-follower structure and the communication topology among the multirobot system is modeled by a directed graph. Slippage is hard to avoid due to the possible existence of ice, sand, or muddy roads. To overcome the effect of slippage, an adaptive trajectory tracking controller for leader robot is designed, such that the leader robot can keep up with the virtual reference trajectory and estimate the real value of unknown slipping ratio accurately. In addition, it is difficult for each follower robot to obtain leader's states in a large formation system, so distributed formation controllers are designed based on distributed observers. It is shown that the proposed controllers can realize formation objective and overcome the slippage constraints at the same time. Finally, the effectiveness of the proposed controllers is verified by simulation results.
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Journal Title
IEEE Transactions on Systems, Man, and Cybernetics: Systems
Volume
51
Issue
5
Subject
Electrical engineering
Mechanical engineering
Science & Technology
Automation & Control Systems
Computer Science, Cybernetics