Cooperative Tracking Control for Networked Lagrange Systems: Algorithms and Experiments

Cooperative tracking control problem of multiple water–land amphibious robots is discussed in this article with consideration of unknown nonlinear dynamics. Firstly, the amphibious robot dynamic model is formulated as an uncoupled nonlinear one in horizontal plane through eliminating relatively small sway velocity of the platform. Then cooperative tracking control algorithm is proposed with a two-stage strategy including dynamic control stage and kinematic control stage. In dynamic control stage, adaptive consensus control algorithm is obtained with estimating nonlinear properties of amphibious robots and velocities of the leader by neural network with unreliable communication links which is always the case in underwater applications. After that, kinematic cooperative controller is presented to guarantee formation stability of multiple water–land amphibious robots system in kinematic control stage. As a result, with the implementation of graph theory and Lyapunov theory, the stability of the formation tracking of multiple water–land amphibious robots system is proved with consideration of jointly connected communication graph. At last, simulations are carried out to prove the effectiveness of the proposed approaches.

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Distributed fixed-time cooperative tracking control for multi-robot systems

2017 IEEE International Conference on Robotics and Automation (ICRA) ◽

10.1109/icra.2017.7989101 ◽

2017 ◽

Cited By ~ 2

Author(s):

Boda Ning ◽

Jiong Jin ◽

Zongyu Zuo ◽

Jinchuan Zheng ◽

Qing-Long Han

Keyword(s):

Tracking Control ◽

Fixed Time ◽

Robot Systems ◽

Cooperative Tracking ◽

Multi Robot

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Cooperative Tracking Control for Formation Keeping of Fractionated Spacecraft Based on Error Exchanging

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.1016.649 ◽

2014 ◽

Vol 1016 ◽

pp. 649-654

Author(s):

Ya Feng Niu ◽

Yong Ming Gao

Keyword(s):

Tracking Control ◽

Cooperative Control ◽

Sliding Mode ◽

Control Law ◽

Velocity Information ◽

The Stability ◽

Cooperative Tracking ◽

Fractionated Spacecraft ◽

High Degree ◽

Formation Keeping

This paper discusses the cooperative control for formation keeping of fractionated spacecraft, which is a new concept in recent years. For system of second-order differential equations of formation flying dynamics, knowledge of graph and consensus theory is introduced in study. By means of the idea of sliding mode control, we design a tracking control law for time-varying desired signal. Via exchanging error information among modules, the control law can make errors synchronized up to zero to achieve tracking. Relative velocity information between modules is not needed in this control law, which will efficiently reduce the requirements for relative navigation between modules. Then we prove the stability of the control system. Finally numerical simulation results show the effectiveness of the control law. By configuring the control parameters reasonably, we can achieve high degree of control accuracy.

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