Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics | Zendy

Zhaoxia Peng | Zendy; Shichun Yang | Zendy; Guoguang Wen | Zendy; Ahmed Rahmani | Zendy

Open Access

Distributed Consensus-Based Robust Adaptive Formation Control for Nonholonomic Mobile Robots with Partial Known Dynamics

Author(s) -

Zhaoxia Peng,

Shichun Yang,

Guoguang Wen,

Ahmed Rahmani

Publication year - 2014

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2014/670497

Subject(s) - trajectory , mobile robot , control theory (sociology) , nonholonomic system , computer science , kinematics , adaptive control , consensus , robust control , robustness (evolution) , control (management) , robot , control engineering , multi agent system , artificial intelligence , engineering , control system , chemistry , physics , classical mechanics , astronomy , electrical engineering , gene , biochemistry

This paper investigates the distributed consensus-based robust adaptive formation control for nonholonomic mobile robots with partially known dynamics. Firstly, multirobot formation control problem has been converted into a state consensus problem. Secondly, the practical control strategies, which incorporate the distributed kinematic controllers and the robust adaptive torque controllers, are designed for solving the formation control problem. Thirdly, the specified reference trajectory for the geometric centroid of the formation is assumed as the trajectory of a virtual leader, whose information is available to only a subset of the followers. Finally, numerical results are provided to illustrate the effectiveness of the proposed control approaches

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