Fixed-Time Formation Control of Unicycle-Type Mobile Robots With Visibility and Performance Constraints

Dai, Shi‐Lu; Lu, Ke; Jin, Xu

doi:10.1109/tie.2020.3040686

Cited by 61 publications

(11 citation statements)

References 37 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Moreover, prescribed performance can even maintain the tracking errors of the system being limited in a given region so as to effectively avoid collision or losing visibility with the enemy. In [20] Finite-T TT Sym Torque NO In [32] AS ET Sym Torque NO In [33] AS ET Sym Velocity NO In [34] AS TT Sym Torque YES In [37] Fixed-T TT Sym Torque YES In [38] Finite…”

Section: Comparison With Related Workmentioning

confidence: 99%

Fixed-Time Adaptive Event-Triggered Guaranteed Performance Tracking Control of Nonholonomic Mobile Robots under Asymmetric State Constraints

Chen,

Gu,

Huang

et al. 2024

Mathematics

View full text Add to dashboard Cite

A fixed-time adaptive guaranteed performance tracking control is investigated for a category of nonholonomic mobile robots (NMRs) under asymmetric state constraints. For the sake of favorable transient and steady-state properties of the system, a prescribed performance function (PPF) is introduced and a transform function is further constructed. Based on the backstepping technique, an asymmetric barrier Lyapunov function is formulated to ensure the tracking errors converge within a human-specified time. On the foundation of this, the occupation of communication channel is effectively reduced by assigning an event-triggered mechanism (ETM) with relative threshold to the process of controller design. By utilizing the proposed control strategy, the NMR is capable of implementing the enemy dislodging mission while the enemy can always be caught by the NMR and the collision would never be presented. Finally, two simulation experiments are given to verify the effectiveness of the proposed scheme.

show abstract

Section: Comparison With Related Workmentioning

confidence: 99%

Fixed-Time Adaptive Event-Triggered Guaranteed Performance Tracking Control of Nonholonomic Mobile Robots under Asymmetric State Constraints

Chen,

Gu,

Huang

et al. 2024

Mathematics

View full text Add to dashboard Cite

show abstract

“…for constants k m and k s that determine the center and variance of the fuzzy membership function, and si e is the Euclidean norm of the estimation error in (18). Also, the fuzzy rules are designed as ,…”

Section: Fismo For Estimating the Velocityies And Kinematic Disturbancementioning

confidence: 99%

“…Tracking the leader robot with these onboard sensors increases the number of sensors on the follower robot, resulting in the increased size and weight of the follower robot. The robot mounted camera was used for the leaderfollower formation control, which, however, had the visibility constraints [18], [19]. In contrast, with the use of a ceiling-mounted camera sensor, obtaining relative posture information of the robots becomes easier without the need for additional equipment on the follower robot.…”

Section: Introductionmentioning

confidence: 99%

Fuzzy Integral Sliding Mode Observer-Based Formation Control of Mobile Robots With Kinematic Disturbance and Unknown Leader and Follower Velocities

Boo

Chwa

2022

IEEE Access

View full text Add to dashboard Cite

Fuzzy integral sliding mode observer (FISMO) based leader-follower formation control with the use of ceiling-mounted camera information is proposed for mobile robots with kinematic disturbance and no information of the velocities of leader and follower robots. Using only the posture information of both the leader and follower robots obtained from the camera sensor, the follower robot is made to follow the trajectory of a target robot that is introduced to render the leader-follower formation control more efficient. As a result, a kinematic tracking error model is proposed in terms of both the posture error between the target and follower robots and the posture error between the origin of the inertial reference frame and follower robot. Because the kinematic disturbance and the velocities of the leader and follower robots are not available, an FISMO is designed to simultaneously estimate the kinematic disturbance as well as the linear and angular velocities of the leader and follower robots. FISMO-based leader-follower output feedback formation control is then proposed based on the estimates of the kinematic disturbance and velocities and the backstepping-like feedback linearization tracking control. The experimental results comparing the proposed FISMO-based method with the robust distance-based tracking control method and integral sliding mode observer (ISMO)-based method are provided to verify the effectiveness of the proposed method.INDEX TERMS Ceiling-mounted camera, fuzzy integral sliding mode observer, kinematic disturbance, leader-follower output feedback formation control, mobile robots.

show abstract

“…6 Among them, the nonholonomic multirobot have been investigated from researchers, [7][8][9] because this kind of robots are underdriven and inaccurately modeled, the nonholonomic constraints mean that the number of independent control variables is less than degrees of freedom. But, the early works 10,11 only took into account the robot kinematics, the dynamics of mobile robots were overlooked, so that the internal dynamics of the robot cannot be controlled accurately. Although many studies considered dynamics, the uncertainty of inherent model was ignored.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy finite‐time formation asymptotic tracking control for nonholonomic multirobot systems with inputs quantization

Dong,

2023

Adaptive Control & Signal

View full text Add to dashboard Cite

SummaryThis paper investigates the finite‐time formation tracking control problem for nonholonomic multirobot systems with inputs quantization. The fuzzy logic systems (FLSs) and adaptive method are introduced to approximate unknown nonlinear functions and parameters. Multirobot needs to keep safe and effective communicating range, the barrier function and prescribed performance method are employed to ensure collision avoidance and connectivity maintenance. Then, in order to make each robot more precisely and quickly track referenced leader's trajectory and consider the finite channel bandwidth in practical applications, the travel range of robots can be maintained at more secure region and formation can operate normally within the given bandwidth. By combining the command filter and finite‐time theory, a novel decentralized finite‐time formation asymptotic tracking (FTFAT) control strategy is further proposed based on inputs quantization technology, it guarantees that all signals are bounded and the formation tracking errors asymptotically converge to zero in finite‐time. Finally, the practicability of FTFAT strategy is demonstrated absolutely for nonholonomic multirobot systems.

show abstract

Fixed-Time Formation Control of Unicycle-Type Mobile Robots With Visibility and Performance Constraints

Cited by 61 publications

References 37 publications

Fixed-Time Adaptive Event-Triggered Guaranteed Performance Tracking Control of Nonholonomic Mobile Robots under Asymmetric State Constraints

Fixed-Time Adaptive Event-Triggered Guaranteed Performance Tracking Control of Nonholonomic Mobile Robots under Asymmetric State Constraints

Fuzzy Integral Sliding Mode Observer-Based Formation Control of Mobile Robots With Kinematic Disturbance and Unknown Leader and Follower Velocities

Adaptive fuzzy finite‐time formation asymptotic tracking control for nonholonomic multirobot systems with inputs quantization

Contact Info

Product

Resources

About