A new on-line observer-based controller for leader-follower formation of multiple nonholonomic mobile robots

Hassan, Mohamed F.; Aljuwaiser, E.; Badr, Ragia I.

doi:10.1016/j.jfranklin.2018.01.009

Cited by 12 publications

(9 citation statements)

References 27 publications

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“…Compared with many previous works, our proposed tracking controller does not require velocity measurements for real implementations by designing a high-gain observer. (ii) In contrast to previously proposed controllers, [15][16][17][18][19][20][21][22][23] our presented output feedback formation controller takes the input constraint into account. For this purpose, the hyperbolic tangent saturation function is applied to the design of the inverse dynamic controller in order to bound the tracking error variables.…”

Section: Introductionmentioning

confidence: 99%

“…Towards this end, the output feedback control schemes were designed for mobile robots in different works, including refs. [15][16][17][18][19][20][21][22][23], which is very demanding due to the nonholonomic constraints. Furthermore, the existence of parametric and nonparametric uncertainties in the kinematic and dynamic models of mobile robots makes this problem more challenging.…”

Section: Introductionmentioning

confidence: 99%

“…In refs. [19][20][21][22][23], the output feedback formation controllers were proposed in the presence of model uncertainties. Besides the previous works, the high-gain observer technique, which was first proposed by Khalil et al in ref.…”

Section: Introductionmentioning

confidence: 99%

“…The actuator input constraint is also one of the major problems that occur in the control of actuated dynamic systems. Most of the presented works, including output feedback controllers, [15][16][17][18][19][20][21][22][23] assume that WMR actuators are capable of accepting every level of voltage signals. The main challenge usually arises when a large amplitude of the control signal is required to obtain a good tracking performance of hard reference trajectories, which can cause saturation of actuators.…”

Section: Introductionmentioning

confidence: 99%

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High-Gain Observer-Based Neural Adaptive Feedback Linearizing Control of a Team of Wheeled Mobile Robots

Sarrafan¹,

Shojaei

2019

Robotica

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SummaryThis paper addresses the neural network (NN) output feedback formation tracking control of nonholonomic wheeled mobile robots (WMRs) with limited voltage input. A desired formation is achieved based on the leader–follower strategy utilizing hyperbolic tangent saturation functions to reduce the risk of actuator saturation. The controller is developed by incorporating the high-gain observer and radial basis function (RBF) NNs using the inverse dynamics control technique. The high-gain observer is introduced to estimate velocities of the followers. The RBF NN preserves the robustness of the proposed controller against uncertain nonlinearities. The adaptive laws are also combined by a robust control term to estimate the weights of RBF NN, approximation errors, and bounds of unknown time-variant environmental disturbances. A Lyapunov-based stability analysis proves that all signals of the closed-loop system are bounded, and tracking errors are uniformly ultimately bounded. Finally, some simulations are carried out to show the effectiveness of the proposed controller for a number of WMRs.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

High-Gain Observer-Based Neural Adaptive Feedback Linearizing Control of a Team of Wheeled Mobile Robots

Sarrafan¹,

Shojaei

2019

Robotica

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“…However, these works have been limited only to a kinematic control problem, and they have presented introductory results on the convoy problem. While there exist many results on the formation control of mobile robots (Cao et al, 2017; Gil-Pinto et al, 2007; Hassan et al, 2018; Hosseinzadeh Yamchi and Mahboobi Esfanjani, 2016; Kang et al, 2004; Liang et al, 2018; Sadowska and Huijberts, 2013; Shojaei, 2017b; Shojaei, 2018), the literature is still sparse to address the convoy control problem of the autonomous cars, which is of a great importance in the intelligent transportation systems. According to the literature, most of the recent results have been focused on the one-dimensional vehicle-following problem; that is, the longitudinal control of the vehicular platoons.…”

Section: Introductionmentioning

confidence: 99%

Tracking control of a convoy of autonomous robotic cars with a prescribed performance

Shojaei

Yousefi

2019

Transactions of the Institute of Measurement and Control

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This paper studies the tracking control of a convoy of multiple autonomous cars or car-like robots in the planar motion without any collision with a prescribed performance that has not been addressed sufficiently in the literature yet. Toward this end, a coordinate transformation is initially employed to transform the posture errors between each two successive cars in a group from the earth-fixed frame into their relative distance and angle errors that should satisfy some predefined transient and steady-state constraints. By employing the prescribed performance technique, a nonlinear transformation is used to transform the constrained relative distance and angle errors and to obtain an unconstrained kinematic error equation. Then, a novel kinematic controller is designed to satisfy the prescribed transient and steady-state performance specifications without any collision and any controller singularity. Next, the Dynamic Surface Control technique is effectively used to simplify the convoy controller design at the dynamic level by using a first-order filter. An adaptive neural network is used to maintain the control system robustness against modelling errors and external disturbances. The Lyapunov theory proves the stability of the convoy control system and, finally, simulation examples verify the controller performance for multiple autonomous cars in intelligent transportation applications.

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Super‐twisting sliding mode trajectory tracking adaptive control of wheeled mobile robots with disturbance observer

Zhai

2022

Intl J Robust & Nonlinear

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This article aims at the difficulties of wheeled mobile robots (WMR) system with wheeled slipping and control backlash in trajectory tracking. A novel sliding mode control strategy is proposed. For estimating the lumped disturbance, an adaptive sliding mode disturbance observer is constructed and achieves the finite-time convergence of estimate error. For the purpose of accelerating the trajectory tracking, a novel arctangent terminal sliding mode surface is designed. To overcome the control chattering, a novel super-twisting sliding mode controller is constructed which makes the control effect continuous and achieves finite-time tracking of virtual reference velocities. The asymptotic convergence of trajectory tracking error is guaranteed by the Lyapunov stability theory. The simulation and comparison results of a WMR system demonstrate the validity of the proposed scheme for trajectory tracking.

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A new on-line observer-based controller for leader-follower formation of multiple nonholonomic mobile robots

Cited by 12 publications

References 27 publications

High-Gain Observer-Based Neural Adaptive Feedback Linearizing Control of a Team of Wheeled Mobile Robots

High-Gain Observer-Based Neural Adaptive Feedback Linearizing Control of a Team of Wheeled Mobile Robots

Tracking control of a convoy of autonomous robotic cars with a prescribed performance

Super‐twisting sliding mode trajectory tracking adaptive control of wheeled mobile robots with disturbance observer

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