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
收藏
页码：359 / 370
页数：12
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