2021
DOI: 10.1109/access.2021.3112571
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Distributed Adaptive Cooperative Control With Fault Compensation Mechanism for Heterogeneous Multi-Robot System

Abstract: In this paper, a distributed adaptive consensus law with fault compensation for a heterogeneous multi-robot system (MRS) is proposed. The design paradigm adopted in this work involves a leader-following cooperative algorithm featuring two distinct adaptive coupling gains to compensate for multiple additive time-varying faults. Exacerbating the situation, the follower robots commissioned in the leader-following mission are non-identical due to their dynamic characteristic as normally exist in a physical setup. … Show more

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Cited by 4 publications
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