Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You and Your Team.

Learn More →

Neurodynamics-based leader-follower formation tracking of multiple nonholonomic vehicles

Neurodynamics-based leader-follower formation tracking of multiple nonholonomic vehicles The purpose of this paper is to consider the leader-following formation control problem for nonholonomic vehicles based on a novel biologically inspired neurodynamics approach.Design/methodology/approachThe interactions among the networked multi-vehicle system is modeled by an undirected graph. First, a distributed estimation law is proposed for each follower vehicle to estimate the state including the position, orientation and linear velocity of the leader. Then, a distributed formation tracking control law is designed based on the estimated state of the leader, where a bio-inspired neural dynamic is introduced to solve the impractical velocity jumps problem. Explicit stability and convergence analyses are presented using Lyapunov tools.FindingsThe effectiveness and efficiency of the proposed control law are demonstrated by numerical simulations and physical vehicle experiments. Consequently, the proposed protocol can successfully achieve the desired formation under connected topologies while tracking the trajectory generated by the leader.Originality/valueThis paper proposes a neurodynamics-based leader–follower formation tracking algorithm for multiple nonholonomic vehicles. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Assembly Automation Emerald Publishing

Neurodynamics-based leader-follower formation tracking of multiple nonholonomic vehicles

Loading next page...
 
/lp/emerald-publishing/neurodynamics-based-leader-follower-formation-tracking-of-multiple-ulrjqWCuJ2
Publisher
Emerald Publishing
Copyright
© Emerald Publishing Limited
ISSN
0144-5154
DOI
10.1108/aa-12-2017-184
Publisher site
See Article on Publisher Site

Abstract

The purpose of this paper is to consider the leader-following formation control problem for nonholonomic vehicles based on a novel biologically inspired neurodynamics approach.Design/methodology/approachThe interactions among the networked multi-vehicle system is modeled by an undirected graph. First, a distributed estimation law is proposed for each follower vehicle to estimate the state including the position, orientation and linear velocity of the leader. Then, a distributed formation tracking control law is designed based on the estimated state of the leader, where a bio-inspired neural dynamic is introduced to solve the impractical velocity jumps problem. Explicit stability and convergence analyses are presented using Lyapunov tools.FindingsThe effectiveness and efficiency of the proposed control law are demonstrated by numerical simulations and physical vehicle experiments. Consequently, the proposed protocol can successfully achieve the desired formation under connected topologies while tracking the trajectory generated by the leader.Originality/valueThis paper proposes a neurodynamics-based leader–follower formation tracking algorithm for multiple nonholonomic vehicles.

Journal

Assembly AutomationEmerald Publishing

Published: Dec 6, 2018

Keywords: Multi-agent systems; Bio-inspired neurodynamics; Formation control; Leader-following; Nonholonomic mobile robot

References