Tracking Control of Mobile Robots in Formation in the Presence of Disturbances

Sharma, Radhe Shyam; Mondal, Arindam; Behera, Laxmidhar

doi:10.1109/tii.2020.2983646

Cited by 39 publications

(14 citation statements)

References 24 publications

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“…Recently, many interesting theoretical results on the formation control of mobile robots have been reported by the researchers in the literature. [12][13][14][15][16][17][18][19][20][21] Based on a deep literature review by the author including, the following shortcomings are evident in the previous works:…”

Section: Introductionmentioning

confidence: 99%

“…A multi‐functional control law for a group of mobile robots is addressed in Reference 11 which integrates flocking, formation control, and path‐following problems. Recently, many interesting theoretical results on the formation control of mobile robots have been reported by the researchers in the literature 12–21 . Based on a deep literature review by the author including, 1–33 the following shortcomings are evident in the previous works: According to a careful review of the literature including, 1–33 the majority of the literature is devoted to the formation control of differentially driven wheeled mobile robots which is a particular case of nonholonomic type ( m , s ) WMRs, that is, type (2, 0) robot.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, many interesting theoretical results on the formation control of mobile robots have been reported by the researchers in the literature 12–21 . Based on a deep literature review by the author including, 1–33 the following shortcomings are evident in the previous works: According to a careful review of the literature including, 1–33 the majority of the literature is devoted to the formation control of differentially driven wheeled mobile robots which is a particular case of nonholonomic type ( m , s ) WMRs, that is, type (2, 0) robot. Since design of the previously proposed controllers is dependent on robot's kinematic model, they could not be applied to other types of mobile robots with different steerability, mobility, and kinematic models.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A novel saturated PID‐type observer‐based controller for wheeled mobile robots with a guaranteed performance considering path curvature

Shojaei

2023

Intl J Robust & Nonlinear

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This article proposes a novel saturated PID‐type formation controller for a class of nonholonomic wheeled mobile robots (WMRs) of type (m, s) with mobility m and steerability s. Since the path curvature causes a severe deviation of the followers from the leaders' trajectory in the corners, a new definition of output equations is suggested to construct the coordinates of a virtual reference point in the front of each follower based on the concept of the extended look‐ahead control that utilizes a corrective angle to compensate the trajectory curvature efficiently. A nonlinear transformation and the robot's kinematic and dynamic equations are heuristically combined to develop a novel second‐order Euler–Lagrange formulation of unconstrained errors from constrained errors. Then, a novel saturated PID‐type controller is proposed for WMRs to build a desirable formation with a prescribed performance. An innovative nonlinear observer is presented to estimate followers' velocities. An efficient mixture of a radial basis function neural network (RBFNN) and an adaptive mechanism is proposed to compensate for model uncertainties, external disturbances, and network approximation errors. Lyapunov's direct method verifies semi‐global uniform ultimate boundedness stability by estimating a gain‐dependent region of attraction. Numerical simulations finally show the efficiency of the proposed controller.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

A novel saturated PID‐type observer‐based controller for wheeled mobile robots with a guaranteed performance considering path curvature

Shojaei

2023

Intl J Robust & Nonlinear

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“…Another issue must be considered in the multiagent systems is chattering, which can deteriorate the system performance because the high wear of actuators of the agents [17][18][19][20][21]. To guarantee the desirable performance of the controller, the sliding mode control method is applied to eliminate the negative effect arises from the uncertainties and external bounded disturbances, such as disturbances caused by wind, ocean-current and uncertain wave to ships [22][23][24][25].…”

Section: Introductionmentioning

confidence: 99%

Saturated Finite-Time Control for Uncertain Multi-agent Systems with Uncertainties and Disturbances

Yang

Fan

Long

et al. 2022

Advances in Transdisciplinary Engineering

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This paper presents a finite-time formation control scheme that can deal with linearly parametric uncertainties and unknown bounded disturbances. More precisely, the sliding surface is defined based on only the local relative measurements, yields the smooth manifold related to the control problem, the distributed controllers are designed without and with the uncertainties and external disturbances that ensure the finite-time convergence, and the robust control part is derived relies on the estimation technique according to the properties of smoothness and input saturation. To obtain the better performance of multiagent systems, a feasible boundary layer for saturation function is selected in the proposed control algorithm. It is shown that the proposed control can greatly eliminate the chattering effect, and the global uniformly ultimately bounded is ensured. Finally, simulation results are presented to illustrate the dynamical performance of the proposed robust formation control scheme.

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“…To sum up, the studies concerning formation control focus primarily on the topology schematization and the stability analysis [12]. Such as mission planning and obstacle avoiding based formation design [13][14][15], the analysis of formation tracking errors [16][17][18], and changeable formation control [19,20].…”

Section: Introductionmentioning

confidence: 99%

Distributed cooperative formation of stochastic multi‐agent systems in finite horizon

Jun

Chen

Shen

et al. 2022

IET Control Theory & Appl

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The paper addresses the distributed cooperative formation control problem for a class of general stochastic multi-agent systems subject to time-varying dynamics. A type of novel modified distributed state observer is constructed, whose estimation information is used to design the H ∞ control scheme for guaranteeing the mean-square formation maintenance in finite-horizon. Furthermore, the observer and controller parameters are obtained iteratively through solving a set of constrained recursive matrix equations. Finally, the proposed scheme has been validated by a simulation study.

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Tracking Control of Mobile Robots in Formation in the Presence of Disturbances

Cited by 39 publications

References 24 publications

A novel saturated PID‐type observer‐based controller for wheeled mobile robots with a guaranteed performance considering path curvature

A novel saturated PID‐type observer‐based controller for wheeled mobile robots with a guaranteed performance considering path curvature

Saturated Finite-Time Control for Uncertain Multi-agent Systems with Uncertainties and Disturbances

Distributed cooperative formation of stochastic multi‐agent systems in finite horizon

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