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Adaptive formation tracking control of electrically driven multiple mobile robots

Adaptive formation tracking control of electrically driven multiple mobile robots

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An adaptive formation control method is proposed for multiple uncertain non-holonomic mobile robots at the actuator dynamics level. All parameters of the robot kinematics and dynamics, and actuator dynamics are unknown. The virtual structure with path parameters and the dynamic surface design methodology are combined to design a simpler adaptive formation control scheme than the previous backstepping-based control system. Using the Lyapunov stability theorem, the authors present the adaptation laws for tuning all unknown parameters of multiple mobile robots regardless of considering path parameters in the reference trajectories. In addition, it is proved that all signals in the total closed-loop system are semi-globally uniformly bounded and all formation tracking errors and synchronisation errors of the path parameters converge to an adjustable neighbourhood of the origin. Finally, simulation results demonstrate the effectiveness of the proposed approach.

Inspec keywords: robot dynamics; Lyapunov methods; robot kinematics; stability; adaptive control; control system synthesis; path planning; mobile robots; closed loop systems

Other keywords: synchronisation errors; Lyapunov stability theorem; electrically driven multiple mobile robots; closed-loop system; surface design methodology; nonholonomic mobile robots; formation tracking errors; adaptive formation control; actuator dynamics level; tracking control; robot kinematics

Subjects: Mobile robots; Robot and manipulator mechanics; Control system analysis and synthesis methods; Stability in control theory; Spatial variables control; Self-adjusting control systems

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