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

[31] Adaptive leader-follower formation control of non-holonomic mobile robots using active vision
Chen, Xiaohan
Jia, Yingmin
IET CONTROL THEORY AND APPLICATIONS, 2015, 9 (08): : 1302 - 1311
[32] Leader-follower formation control for a team of mobile robots using an acoustic array
Hegedus, Michael
Mehrandezh, Mehran
Paranjape, Raman
2008 CANADIAN CONFERENCE ON ELECTRICAL AND COMPUTER ENGINEERING, VOLS 1-4, 2008, : 115 - +
[33] Leader-Follower Formation Control of Mobile Sensor Robots for Cable Tunnel Inspection
Huang, Shuntao
Cui, Jiangjing
Qiu, Wei
Liao, Yanqun
Pei, Xingyu
Meng, Anbo
2018 INTERNATIONAL CONFERENCE ON POWER SYSTEM TECHNOLOGY (POWERCON), 2018, : 4544 - 4549
[34] Formation Control for Leader-Follower Wheeled Mobile Robots Based on Embedded Control Technique
Liu, Weiming
Wang, Xiangyu
Li, Shihua
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY, 2023, 31 (01) : 265 - 280
[35] Adaptive control for leader-follower formation of quadrotors
Nguyen Dang Hao
Mohamed, Boutayeb
Rafaralahy, Hugues
2015 WORKSHOP ON RESEARCH, EDUCATION AND DEVELOPMENT OF UNMANNED AERIAL SYSTEMS (RED-UAS), 2015, : 33 - 42
[36] Adaptive Leader-Follower Formation Control of Nonholonomic Mobile Robots With Prescribed Transient and Steady-State Performance
Dai, Shi-Lu
He, Shude
Chen, Xin
Jin, Xu
IEEE TRANSACTIONS ON INDUSTRIAL INFORMATICS, 2020, 16 (06) : 3662 - 3671
[37] Leader-follower formation control of nonholonomic mobile robots with bearing-only measurements
Yang, Ziwen
Zhu, Shanying
Chen, Cailian
Feng, Gang
Guan, Xinping
JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2020, 357 (03): : 1628 - 1643
[38] Leader-Follower Control and Collision Avoidance for the Formation of Differentially-Driven Mobile Robots
Kowalczyk, Wojciech
Kozlowski, Krzysztof
2018 23RD INTERNATIONAL CONFERENCE ON METHODS & MODELS IN AUTOMATION & ROBOTICS (MMAR), 2018, : 132 - 137
[39] NMPC-based Visual Leader-Follower Formation Control for Wheeled Mobile Robots
Ribeiro, Tiago T.
Fernandez, Ramon O.
Conceicao, Andre G. S.
2018 IEEE 16TH INTERNATIONAL CONFERENCE ON INDUSTRIAL INFORMATICS (INDIN), 2018, : 406 - 411
[40] Tracking and Formation Control of Leader-Follower Cooperative Mobile Robots Based on Trilateration Data
Ningrum, Endah Suryawati
Hakkun, Rizky Yuniar
Alasiry, Ali Husein
EMITTER-INTERNATIONAL JOURNAL OF ENGINEERING TECHNOLOGY, 2015, 3 (02) : 88 - 98

← 1 2 3 4 5 →