2024
DOI: 10.1109/tiv.2024.3380000
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Distributed Robust Learning Based Formation Control of Mobile Robots Based on Bioinspired Neural Dynamics

Zhe Xu,
Tao Yan,
Simon X. Yang
et al.

Abstract: This paper addresses the challenges of distributed formation control in multiple mobile robots, introducing a novel approach that enhances real-world practicability. We first introduce a distributed estimator using a variable structure and cascaded design technique, eliminating the need for derivative information to improve the real time performance. Then, a kinematic tracking control method is developed utilizing a bioinspired neural dynamic-based approach aimed at providing smooth control inputs and effectiv… Show more

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