Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

Vos, Ewoud; Schaft, A.J. van der; Scherpen, Jacquelien M. A.

doi:10.1109/tac.2015.2504547

Cited by 27 publications

(28 citation statements)

References 19 publications

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“…where the functions F i : R ≥0 ×R 2 ×R 3 and G i : R ≥0 ×R 2 ×R 3 may be defined in various ways. Most typically, (2a) are determined by the Euler-Lagrange equations, as for instance in [12], or they are expressed in terms of the system's Hamiltoniansee, e.g., [28]. Our main statements are not restricted to either form; it is only assumed that F i and G i satisfy Caratheodory's conditions of local existence and uniqueness of solutions over compact intervals.…”

Section: The Vehicle Moves About With Forward Velocitymentioning

confidence: 99%

Cascades-Based Leader–Follower Formation Tracking and Stabilization of Multiple Nonholonomic Vehicles

Maghenem

Lorı́a

Panteley

2020

IEEE Trans. Automat. Contr.

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It is known after [1] that nonholonomic systems on the plane cannot be stabilized on arbitrary leader's trajectories with piece-wise continuous velocities via continuous controllers, even time-varying. In this paper we identify a wide class of smooth bounded reference trajectories (that includes set-points) and we propose a smooth time-varying controller that stabilizes such trajectories, not only for one nonholonomic mobile robot, but also for a network of mobile robots in a leader-follower configuration. We provide new constructions of strict Lyapunov functions with which we establish uniform global asymptotic stability and other strong robustness properties in the formation-error-coordinates space. Thus, our stability statements are unique in the literature and our tools of analysis are original.

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Section: The Vehicle Moves About With Forward Velocitymentioning

confidence: 99%

Cascades-Based Leader–Follower Formation Tracking and Stabilization of Multiple Nonholonomic Vehicles

Maghenem

Lorı́a

Panteley

2020

IEEE Trans. Automat. Contr.

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“…As explained in the Introduction, the equations (2) correspond to a generic dynamics model which may be expressed, e.g., in Hamiltonian coordinates -see [3], or in Lagrangian ones -see [2]. The statement of Proposition 3 is general in the sense that it applies to any stabilizing controller for the equations (2).…”

Section: Examplementioning

confidence: 99%

“…For control design, autonomous vehicles are often modeled as unicycle systems, with two Cartesian coordinates for translation and one for orientation; this is the so-called kinematic model. Full models include an additional forces-balance equation, e.g., in Lagrangian form [2] or in Hamiltonian one [3]. Yet, even at the kinematic level, tracking control imposes certain difficulties when considering generic reference trajectories that stem from the nonholonomy of the robot [4].…”

Section: Introductionmentioning

confidence: 99%

A Cascades Approach to Formation-Tracking Stabilization of Force-Controlled Autonomous Vehicles

Maghenem¹,

Lorı́a²,

Panteley³

2018

IEEE Trans. Automat. Contr.

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We present a cascades-based controller for the problem of formation-tracking control in a group of autonomous vehicles. We consider general models composed of a velocity kinematics equation and a generic force-balance equation. For each vehicle, a local controller ensures tracking of a reference generated by a leader vehicle. One or many vehicles may have access to the reference trajectories; each robot has one leader only, but may have several followers (spanning-tree topology). We establish uniform global asymptotic stability in closed loop for a wide class of controllers. Our analysis relies on the construction of an original strict Lyapunov function for the position tracking error dynamics and an inductive argument based on cascades-systems theory.

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“…Li et al in [43] reported a hybrid intelligent algorithm based on a kinematic control and a fuzzy control that solves both the tracking and path-following control problems. Vos et al in [44] presented a controller defined within the port-Hamiltonian framework; this was a combination of a heading control, a velocity tracking control, and a formation control for a group of DDWMRs. Rudra et al in [45] designed a novel block-backstepping control that solves both the tracking and stabilization control problems in a DDWMR even when nonlinearities and coupling dynamics are considered in the mathematical model.…”

Section: Introductionmentioning

confidence: 99%

“…The previous literature shows that, in general, the control design for the trajectory tracking task in DDWMRs has been tackled from five directions linked to the kinematics/dynamics of the mechanical structure: (1) by considering only the kinematics of the mechanical structure [12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37], (2) by taking into account the kinematics of the mechanical structure and the dynamics of the actuators [38,39,40], (3) by using the kinematic model of the mechanical structure along with the dynamics of the actuators and power stage [5,6,7], (4) by using only the dynamics of the mechanical structure [41,42,43,44,45,46,47,48,49,50,51,52,53,54,55,56,57,58,59], and (5) by considering the dynamics of the mechanical structure and the actuators [60,61]. Considering the aforementioned perspectives, the present paper is particularly motivated by (3), that is, when the mathematical models of the three subsystems composing a DDWMR are used in control design.…”

Section: Introductionmentioning

confidence: 99%

Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers

García-Sánchez

Tavera-Mosqueda

Silva‐Ortigoza

et al. 2018

Sensors

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By using the hierarchical controller approach, a new solution for the control problem related to trajectory tracking in a differential drive wheeled mobile robot (DDWMR) is presented in this paper. For this aim, the dynamics of the three subsystems composing a DDWMR, i.e., the mechanical structure (differential drive type), the actuators (DC motors), and the power stage (DC/DC Buck power converters), are taken into account. The proposed hierarchical switched controller has three levels: the high level corresponds to a kinematic control for the mechanical structure; the medium level includes two controls based on differential flatness for the actuators; and the low level is linked to two cascade switched controls based on sliding modes and PI control for the power stage. The hierarchical switched controller was experimentally implemented on a DDWMR prototype via MATLAB-Simulink along with a DS1104 board. With the intention of assessing the performance of the switched controller, experimental results associated with a hierarchical average controller recently reported in literature are also presented here. The experimental results show the robustness of both controllers when parametric uncertainties are applied. However, the performance achieved with the switched controller introduced in the present paper is better than, or at least similar to, performance achieved with the average controller reported in literature.

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Formation Control and Velocity Tracking for a Group of Nonholonomic Wheeled Robots

Cited by 27 publications

References 19 publications

Cascades-Based Leader–Follower Formation Tracking and Stabilization of Multiple Nonholonomic Vehicles

Cascades-Based Leader–Follower Formation Tracking and Stabilization of Multiple Nonholonomic Vehicles

A Cascades Approach to Formation-Tracking Stabilization of Force-Controlled Autonomous Vehicles

Robust Switched Tracking Control for Wheeled Mobile Robots Considering the Actuators and Drivers

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