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Prescribed performance bound‐based adaptive path‐following control of uncertain nonholonomic mobile robots
Author(s) -
Wang Wei,
Huang Jiangshuai,
Wen Changyun
Publication year - 2017
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2732
Subject(s) - nonholonomic system , mobile robot , control theory (sociology) , robot , parametric statistics , convergence (economics) , path (computing) , transient (computer programming) , computer science , upper and lower bounds , position (finance) , track (disk drive) , kinematics , scheme (mathematics) , tracking (education) , control (management) , mathematics , artificial intelligence , psychology , mathematical analysis , pedagogy , statistics , physics , finance , classical mechanics , programming language , economics , economic growth , operating system
Summary In this paper, we consider the transient performance of path‐following control of nonholonomic mobile robots with parametric uncertainties. By incorporating prescribed performance bound (PPB) technique, the transient performances on position and orientational tracking errors will be guaranteed with convergence rates no less than certain pre‐specified values and sufficiently small maximum overshoots. We also extend the proposed scheme to solve the formation control problem for a group of N unicycle‐type mobile robots without inter‐robot communications. It is ensured that all the robots can track their references with arbitrarily small errors and no collision will occur between any two robots. Simulation studies verify the established theoretical results. Copyright © 2016 John Wiley & Sons, Ltd.