Adaptive Neuro-Fuzzy Formation Control for Leader-Follower Mobile Robots

被引：0

作者：

Lin, Hung-Wei ^{[2
]}

Chan, Wei-Shou ^{[1
]}

Chang, Chia-Wen ^{[3
]}

Yang, Cheng-Yuan ^{[1
]}

Chang, Yeong-Hwa ^{[1
]}

机构：

[1] Chang Gung Univ, Dept Elect Engn, Tao Yuan, Taiwan

[2] Lee Ming Inst Technol, Dept Elect Engn, Taipei, Taiwan

[3] Ming Chuan Univ, Dept Informat & Telecommun Engn, Taipei, Taiwan

来源：

INTERNATIONAL JOURNAL OF FUZZY SYSTEMS | 2013年 / 15卷 / 03期

关键词：

Multi-robot systems; formation control; neural fuzzy control; Lyapunov stability; MULTIAGENT SYSTEMS; SWITCHING TOPOLOGY; CONSENSUS; NAVIGATION; DELAYS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper aims to investigate the formation control of multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered. Based on the graph-theoretic concepts and locally distributed information, an adaptive neural fuzzy formation controller is designed with the capability of on-line learning. The learning rules of controller parameters can be derived from the analyzing of Lyapunov stability. In addition to simulations, the proposed techniques are applied to an experimental multi-robot platform for performance validations. From simulation and experimental results, the proposed adaptive neural fuzzy protocol can provide better formation responses compared to conventional consensus algorithms.

引用

下载

页码：359 / 370

页数：12

共 50 条

[21] Leader-follower formation control of nonholonomic mobile robots with input constraints
Consolini, Luca
Morbidi, Fabio
Prattichizzo, Domenico
Tosques, Mario
AUTOMATICA, 2008, 44 (05) : 1343 - 1349
[22] Adaptive Image-Based Leader-Follower Formation Control of Mobile Robots With Visibility Constraints
Lin, Jie
Miao, Zhiqiang
Zhong, Hang
Peng, Weixing
Wang, Yaonan
Fierro, Rafael
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2021, 68 (07) : 6010 - 6019
[23] Leader-follower formation control for a group of ROS-enabled mobile robots
Besseghieur, Khadir L.
Trebinski, Radoslaw
Kaczmarek, Wojciech
Panasiuk, Jaroslaw
2019 6TH INTERNATIONAL CONFERENCE ON CONTROL, DECISION AND INFORMATION TECHNOLOGIES (CODIT 2019), 2019, : 1556 - 1561
[24] Leader-Follower Formation of Unicycle Mobile Robots Using Sliding Mode Control
Diaz, Y.
Davila, J.
Mera, M.
IEEE CONTROL SYSTEMS LETTERS, 2023, 7 : 883 - 888
[25] Formation Control of Multiple Wheeled Mobile Robots via Leader-Follower Approach
Peng, Tao
Li, Shan
26TH CHINESE CONTROL AND DECISION CONFERENCE (2014 CCDC), 2014, : 4215 - 4220
[26] Leader-Follower Formation and Tracking Control of Mobile Robots Along Straight Paths
Loria, Antonio
Dasdemir, Janset
Jarquin, Nohemi Alvarez
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2016, 24 (02) : 727 - 732
[27] Leader-Follower Based Formation Control of Multiple Mobile Robots Using the Measurements of the Follower Robot
Park, B.S. (bspark@chosun.ac.kr), 1600, Institute of Control, Robotics and Systems (19):
[28] Leader-Follower Formation Control of Wheeled Mobile Robots without Attitude Measurements
Hirata-Acosta, Jonathan
Pliego-Jimenez, Javier
Cruz-Hernadez, Cesar
Martinez-Clark, Rigoberto
APPLIED SCIENCES-BASEL, 2021, 11 (12):
[29] Adaptive Secure Control for Leader-Follower Formation of Nonholonomic Mobile Robots in the Presence of Uncertainty and Deception Attacks
Park, Bong-Seok
Yoo, Sung-Jin
MATHEMATICS, 2021, 9 (18)
[30] Adaptive formation control of leader-follower mobile robots using reinforcement learning and the Fourier series expansion
Khodamipour, Gholamreza
Khorashadizadeh, Saeed
Farshad, Mohsen
ISA TRANSACTIONS, 2023, 138 : 63 - 73

← 1 2 3 4 5 →