Open AccessFormation tracking control for a class of multiple mobile robots in the presence of unknown skidding and slipping
Author(s) -
Yoo Sung Jin,
Park Bong Seok
Publication year - 2013
Publication title -
iet control theory and applications
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.059
H-Index - 108
eISSN - 1751-8652
pISSN - 1751-8644
DOI - 10.1049/iet-cta.2012.0179
Subject(s) - slipping , control theory (sociology) , mobile robot , trajectory , tracking error , kinematics , computer science , lyapunov function , bounded function , lyapunov stability , robot , control engineering , mathematics , engineering , control (management) , artificial intelligence , nonlinear system , mathematical analysis , physics , geometry , classical mechanics , astronomy , quantum mechanics
This study investigates the formation control problem for a class of multiple mobile robots considering unknown skidding and slipping, and torque saturation. The kinematics and dynamics of multiple mobile robots with skidding and slipping effects are considered. The proposed formation control scheme is derived from the dynamic surface design and virtual structure approach where the reference trajectories consisting of path parameters are employed to satisfy both the tracking control and the formation maintenance. The adaptive technique is used to compensate the unknown skidding and slipping effects. From Lyapunov‐stability analysis, we prove regardless of unknown skidding and slipping that all signals of the total closed‐loop system are semiglobally uniformly ultimately bounded and the point‐tracking errors and the synchronisation error for the desired formation converge to an adjustable neighbourhood of the origin. In addition, it is analysed that the orientation error for each robot is related to the speed of the reference trajectory and the skidding effect. The performance and stability of the proposed approach are verified from simulation results.