Robust finite-time consensus formation control for multiple nonholonomic wheeled mobile robots via output feedback

2017 ◽  
Vol 28 (6) ◽  
pp. 2082-2096 ◽  
Author(s):  
Yingying Cheng ◽  
Ruting Jia ◽  
Haibo Du ◽  
Guanghui Wen ◽  
Wenwu Zhu
Keyword(s):  
Mobile Robots ◽  
Output Feedback ◽  
Finite Time ◽  
Formation Control ◽  
Consensus Formation ◽  
Wheeled Mobile Robots

Adaptive distributed formation control for multiple nonholonomic wheeled mobile robots

2016 ◽  
Vol 173 ◽  
pp. 1485-1494 ◽  
Author(s):  
Zhaoxia Peng ◽  
Shichun Yang ◽  
Guoguang Wen ◽  
Ahmed Rahmani ◽  
Yongguang Yu
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Wheeled Mobile Robots

Visual servoing of dynamic wheeled mobile robots with anti-interference finite-time controllers

2018 ◽  
Vol 38 (5) ◽  
pp. 558-567 ◽  
Author(s):  
Hua Chen ◽  
Lei Chen ◽  
Qian Zhang ◽  
Fei Tong
Keyword(s):  
Mobile Robots ◽  
Finite Time ◽  
Visual Servoing ◽  
Control Method ◽  
External Disturbance ◽  
Nonholonomic Systems ◽  
Stability Control ◽  
Interference Control ◽  
Wheeled Mobile Robots ◽  
Content Type

Purpose The finite-time visual servoing control problem is considered for dynamic wheeled mobile robots (WMRs) with unknown control direction and external disturbance. Design/methodology/approach By using finite-time control method and switching design technique. Findings First, the visual servoing kinematic WMR model is developed, which can be converted to the dynamic chained-form systems by using a state and input feedback transformation. Then, for two decoupled subsystems of the chained-form systems, according to the finite-time stability control theory, a discontinuous three-step switching control strategy is proposed in the presence of uncertain control coefficients and external disturbance. Originality/value A class of discontinuous anti-interference control method has been presented for the dynamic nonholonomic systems.

Saturated output feedback control of uncertain nonholonomic wheeled mobile robots

Robotica ◽  
2014 ◽  
Vol 33 (1) ◽  
pp. 87-105 ◽  
Author(s):  
Khoshnam Shojaei
Keyword(s):  
Mobile Robots ◽  
Output Feedback ◽  
Actuator Saturation ◽  
Output Feedback Control ◽  
Robust Tracking ◽  
Velocity Measurements ◽  
Ultimate Boundedness ◽  
Wheeled Mobile Robots ◽  
Uniform Ultimate Boundedness ◽  
The Cost

SUMMARYMany research works on the control of nonholonomic wheeled mobile robots (WMRs) do not consider the actuator saturation problem and the absence of velocity sensors in practice. The actuator saturation deteriorates the tracking performance of the controller, and the use of velocity sensors increases the cost and weight of WMR systems. This paper simultaneously addresses these problems by designing a saturated output feedback controller for uncertain nonholonomic WMRs. First, a second-order input–output model of nonholonomic WMRs is developed by defining a suitable set of output equations. Then a saturated adaptive robust tracking controller is proposed without velocity measurements. For this purpose, a nonlinear saturated observer is used to estimate robot velocities. The risk of actuator saturation is effectively reduced by utilizing saturation functions in the design of the observer–controller scheme. Semi-global uniform ultimate boundedness of error signals is guarantied by the Lyapunov stability analyses. Finally, simulation results are provided to show the effectiveness of the proposed controller. Compared with one recent work of the author, a comparative study is also presented to illustrate that the proposed saturated controller is more effective when WMR actuators are subjected to saturation.

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