Funnel-Based Asymptotic Control of Leader–Follower Nonholonomic Robots Subject to Formation Constraints

Min, Xiao; Baldi, Simone; Yu, Wenwu

doi:10.1109/tcns.2023.3240223

Cited by 16 publications

(1 citation statement)

References 37 publications

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“…In extreme cases, unrestricted states or synchronization errors may lead to degraded system performance and safety issues [31]. In order to deal with these issues, the funnel control method has been proposed [32], which can be used in various applications, such as robots control [33], multi-agent systems [34], and multiple robotic manipulators systems [35].…”

Section: Introductionmentioning

confidence: 99%

Finite-time funnel synchronization control based on distributed observer for multi-motor driving systems with input saturation

Huang,

Liu,

Shan

2024

Phys. Scr.

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In this article, the finite-time synchronization control problem is developed for multi-motor driving systems with input saturation. A radial basis function (RBF) neural network is utilized to estimate the unknown uncertainties and the disturbances. In contrast to current control strategies, this study proposes a new approach that utilizes a finite-time distributed observer to estimate the reference signal and then uses the estimated signal to design a synchronization controller, which effectively separates the tracking problem from the synchronous controller design. Furthermore, a funnel function is constructed to actualize the state constraints and confine the synchronization error within a specified boundary. Then, a finite-time funnel control protocol is proposed to ensure that each motor follows the estimated reference signal. Eventually, we illustrate the effectiveness of the proposed method through a numerical example.

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Section: Introductionmentioning

confidence: 99%

Finite-time funnel synchronization control based on distributed observer for multi-motor driving systems with input saturation

Huang,

Liu,

Shan

2024

Phys. Scr.

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Robust adaptive safety control of uncertain nonlinear systems and its application to differential robots

Han,

Long

2024

Intl J Robust & Nonlinear

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This article focuses on the problem of robust adaptive safety control of a class of nonlinear systems with parametric uncertainties. Two novel definitions, that is, robust adaptive control Lyapunov function (RACLF) and robust adaptive control barrier function (RACBF) are introduced in this article. Also, an estimation of unknown parameters is obtained based on multiple identification models, state predictors and a logic switching mechanism. The switching mechanism plays a vital role in enhancing the transient properties of nonlinear systems. Meanwhile, a safe motion framework for differential robots is provided based on the existence of parametric uncertainties in RACLF and RACBF, and a safe and stable controller is obtained by solving quadratic programming. Finally, simulation results of differential robot capable of safe motion in space are presented to verify the validity of the design method.

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Multiple tasks control of nonlinear systems under signal temporal logic and its application to mobile robots

Wu,

Long

2024

Intl J Robust & Nonlinear

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This paper addresses the control problem of complex temporal logic tasks for nonlinear systems. A new control barrier function (CBF) called time‐varying extent‐compatible control barrier function (TV‐ECCBF) is proposed, which extends the traditional CBF by considering time‐varying extent or volumes. The main aim of TV‐ECCBF is to tackle the issue of avoiding obstacles in real‐world situations that have irregular or dynamically changing shapes, which cannot be efficiently resolved through traditional CBF methods. To encode complex task specifications, a control framework is presented based on signal temporal logic (STL). Additionally, we introduce robust semantics to discuss the satisfaction of target formulas. Moreover, the control framework generates controllers automatically based on different types of tasks, exhibiting global performance in achieving complex tasks. Finally, two examples of mobile robot systems are presented to demonstrate the effectiveness of the TV‐ECCBF and the proposed design framework.

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Funnel-Based Asymptotic Control of Leader–Follower Nonholonomic Robots Subject to Formation Constraints

Cited by 16 publications

References 37 publications

Finite-time funnel synchronization control based on distributed observer for multi-motor driving systems with input saturation

Finite-time funnel synchronization control based on distributed observer for multi-motor driving systems with input saturation

Robust adaptive safety control of uncertain nonlinear systems and its application to differential robots

Multiple tasks control of nonlinear systems under signal temporal logic and its application to mobile robots

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