Output-feedback formation control of wheeled mobile robots with actuators saturation compensation

Output-feedback formation control of wheeled mobile robots with actuators saturation compensation This paper addresses output-feedback formation control of a group of wheeled mobile robots with saturating actuators. A virtual leader–follower strategy and a passivity-based design procedure are utilized to propose an adaptive neural network formation controller together with a nonlinear observer for the performance improvement of robots formation. The main tactic for the enhancement of the formation controller performance is the effective compensation of the actuators saturation nonlinearity by using neural networks and saturation functions. The need for velocity measurements is eliminated by a saturated observer that reduces unwanted peaks in the velocity estimates. A stability analysis is presented by using Lyapunov’s direct method. Finally, simulation results illustrate the efficiency of the proposed controller compared with existing results. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Nonlinear Dynamics Springer Journals

Output-feedback formation control of wheeled mobile robots with actuators saturation compensation

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Publisher
Springer Netherlands
Copyright
Copyright © 2017 by Springer Science+Business Media B.V.
Subject
Engineering; Vibration, Dynamical Systems, Control; Classical Mechanics; Mechanical Engineering; Automotive Engineering
ISSN
0924-090X
eISSN
1573-269X
D.O.I.
10.1007/s11071-017-3631-x
Publisher site
See Article on Publisher Site

Abstract

This paper addresses output-feedback formation control of a group of wheeled mobile robots with saturating actuators. A virtual leader–follower strategy and a passivity-based design procedure are utilized to propose an adaptive neural network formation controller together with a nonlinear observer for the performance improvement of robots formation. The main tactic for the enhancement of the formation controller performance is the effective compensation of the actuators saturation nonlinearity by using neural networks and saturation functions. The need for velocity measurements is eliminated by a saturated observer that reduces unwanted peaks in the velocity estimates. A stability analysis is presented by using Lyapunov’s direct method. Finally, simulation results illustrate the efficiency of the proposed controller compared with existing results.

Journal

Nonlinear DynamicsSpringer Journals

Published: Jul 4, 2017

References

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