scholarly journals Formation tracking of multiple amphibious robots with unknown nonlinear dynamics

2020 ◽  
Vol 17 (5) ◽  
pp. 172988142093854
Author(s):  
Di Wu ◽  
Lichao Hao ◽  
Xiujun Xu ◽  
Hongjian Wang ◽  
Jiajia Zhou
Keyword(s):  
Nonlinear Dynamics ◽  
Tracking Control ◽  
Control Algorithm ◽  
Dynamic Control ◽  
Lyapunov Theory ◽  
Kinematic Control ◽  
Formation Tracking ◽  
Control Stage ◽  
Cooperative Tracking ◽  
Unknown Nonlinear Dynamics

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.

Fault-Tolerant Formation Tracking Control for Heterogeneous Multiagent Systems with Directed Topology

2021 ◽  
Vol 01 (01) ◽  
pp. 2150001
Author(s):  
Jianye Gong ◽  
Yajie Ma ◽  
Bin Jiang ◽  
Zehui Mao
Keyword(s):  
Tracking Control ◽  
Formation Control ◽  
Control Algorithm ◽  
Fault Tolerant ◽  
Control Technique ◽  
Fault Estimation ◽  
Consensus Control ◽  
Formation Tracking ◽  
Control Scheme ◽  
Aerial Vehicle

In this paper, the adaptive fault-tolerant formation tracking control problem for a set of heterogeneous unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV) systems with actuator loss of effectiveness faults is investigated. The cooperative fault-tolerant formation control strategy for UAV and UGV collaborative systems is classified into the altitude consensus control scheme for follower UAVs and the position cooperative formation control scheme for all followers. The altitude consensus control algorithm is designed by utilizing backstepping control technique to drive all UAVs to a desired predefined height. Then, based on synchronization formation error information, the position cooperative formation control algorithm is proposed for all followers to reach the expected position and perform the desired formation configuration. The adaptive fault estimation term is adopted in the designed fault-tolerant formation control algorithm to compensate for the actuator loss of effectiveness fault. Finally, a simulation example is proposed to reveal the validity of the designed cooperative formation tracking control scheme.

scholarly journals On path following control of nonholonomic mobile manipulators

2009 ◽  
Vol 19 (4) ◽  
pp. 561-574 ◽  
Author(s):  
Alicja Mazur ◽  
Dawid Szakiel
Keyword(s):  
Control Algorithm ◽  
Dynamic Control ◽  
Path Following ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Control Laws ◽  
Kinematic Control ◽  
Motion Constraints ◽  
Path Following Control ◽  
Cascade Structure

On path following control of nonholonomic mobile manipulatorsThis paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm. A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.

scholarly journals Finite-Time Observer Based Cooperative Tracking Control of Networked Lagrange Systems

2014 ◽  
Vol 2014 ◽  
pp. 1-12
Author(s):  
Gang Chen ◽  
Qing Lin
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Fault Tolerant ◽  
Lyapunov Theory ◽  
Actuator Faults ◽  
Fuzzy Logic Systems ◽  
External Disturbances ◽  
Communication Topology ◽  
Velocity Information ◽  
Cooperative Tracking

This paper investigates the cooperative tracking control problem for networked uncertain Lagrange systems with a leader-follower structure on digraphs. Since the leader’s information is only available to a portion of the followers, finite-time observers are designed to estimate the leader’s velocity. Based on the estimated velocity information and the universal approximation ability of fuzzy logic systems, a distributed adaptive fuzzy tracking control protocol is first proposed for the fault-free Lagrange systems. Then, the actuator faults are considered and a distributed fault-tolerant controller is presented. Based on graph theory and Lyapunov theory, the convergence analyses for the proposed algorithms are provided. The development in this paper is suitable for the general directed communication topology. Numerical simulation results are presented to show the closed-loop performance of the proposed control law and illustrate its robustness to actuator faults and external disturbances.

scholarly journals A Q-Learning-Based Parameters Adaptive Algorithm for Formation Tracking Control of Multi-Mobile Robot Systems

Complexity ◽  
2022 ◽  
Vol 2022 ◽  
pp. 1-19
Author(s):  
Chen Zhang ◽  
Wen Qin ◽  
Ming-Can Fan ◽  
Ting Wang ◽  
Mou-Quan Shen
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Parameter Tuning ◽  
Adaptive Method ◽  
Lyapunov Theory ◽  
Tracking Accuracy ◽  
Loop Control ◽  
Q Learning ◽  
Formation Tracking ◽  
Learning Scheme

This paper proposes an adaptive formation tracking control algorithm optimized by Q-learning scheme for multiple mobile robots. In order to handle the model uncertainties and external disturbances, a desired linear extended state observer is designed to develop an adaptive formation tracking control strategy. Then an adaptive method of sliding mode control parameters optimized by Q-learning scheme is employed, which can avoid the complex parameter tuning process. Furthermore, the stability of the closed-loop control system is rigorously proved by means of matrix properties of graph theory and Lyapunov theory, and the formation tracking errors can be guaranteed to be uniformly ultimately bounded. Finally, simulations are presented to show the proposed algorithm has the advantages of faster convergence rate, higher tracking accuracy, and better steady-state performance.

Terminal sliding mode-based cooperative tracking control for non-linear dynamic systems

2016 ◽  
Vol 39 (7) ◽  
pp. 1081-1087 ◽  
Author(s):  
Lei Zuo ◽  
Rongxin Cui ◽  
Weisheng Yan
Keyword(s):  
Dynamic Systems ◽  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
Terminal Sliding Mode ◽  
Linear Dynamic Systems ◽  
Linear Dynamic ◽  
Non Linear ◽  
Cooperative Tracking ◽  
Distributed Control Algorithm

This paper investigates cooperative tracking problems for multiple non-linear dynamic systems. The desired trajectory is only available to a portion of the agents. Treating the desired trajectory as a virtual agent, a terminal sliding mode (TSM)-based distributed control algorithm is designed only using the neighbours’ information. A decentralized observer is provided firstly to estimate the unknown external disturbances. Then, the Gaussian functions are introduced to approximate the second-order derivative of the inaccessible states. On this basis, we further develop a TSM-based cooperative tracking control algorithm for the non-linear dynamic systems such that the tracking errors of each agent converge to an adjustable neighbourhood of the origin in finite time. Finally, a simulation example is presented to illustrate the feasibility and effectiveness of the proposed approaches.

scholarly journals Finite-Time Cooperative Tracking Control Algorithm for Multiple Surface Vessels

2014 ◽  
Vol 2014 ◽  
pp. 1-10
Author(s):  
Jianfang Jiao ◽  
Mingyu Fu
Keyword(s):  
Finite Time ◽  
Tracking Control ◽  
Control Algorithm ◽  
Sliding Mode ◽  
External Disturbance ◽  
Lyapunov Stability Theory ◽  
Control Input ◽  
Terminal Sliding Mode ◽  
Surface Vessels ◽  
Cooperative Tracking

We investigate the problem of finite-time cooperative tracking for multiple surface vessels in the presence of external disturbances. A robust finite-time cooperative tracking algorithm based on terminal sliding-mode control is proposed for multiple surface vessels. In light of the leader-follower strategy, a virtual leader vessel is defined to provide reference point for other surface vessels to form the desired formation. Specifically, the proposed algorithm only requires the communication topology among the surface vessels to be a directed graph with a directed spanning tree. The robustness is achieved by compensating the upper bound of external disturbance in the control input, and the global finite-time stability is proved by Lyapunov stability theory. Finally, the effectiveness of the proposed finite-time cooperative tracking control algorithm is demonstrated by simulation results.

Distributed Observer-Based Formation Tracking Control of Multi-Agent Systems with Multiple Targets of Unknown Periodic Inputs

2019 ◽  
Vol 07 (01) ◽  
pp. 15-23 ◽  
Author(s):  
Ya Zhang ◽  
Yaoyao Wen ◽  
Feifei Li ◽  
Yangyang Chen
Keyword(s):  
Tracking Control ◽  
Control Algorithm ◽  
Multi Agent Systems ◽  
Consensus Protocol ◽  
Multiple Targets ◽  
Estimation Errors ◽  
Agent Systems ◽  
Formation Tracking ◽  
Multi Agent ◽  
Measurement Output

This paper studies the distributed formation tracking control problem of heterogeneous multi-agent systems where the multiple targets have unknown inputs with finite dimensional Fourier decompositions and each target’s measurement output is just available to partial agents. A distributed observer-based formation tracking control algorithm is proposed. The distributed observers are based on the consensus protocol and designed to estimate the inputs and states of all targets from the available measurement outputs and neighbor information. The tracking controller is a state feedback based on the estimated state center of the targets. It is proved that the estimation errors of all agents converge to zero, if and only if each target node in the extended topology is reachable from each agent node and the consensus gain is larger than certain value. It is further proved that under the formation tracking control algorithm, the agents can asymptotically achieve predesigned formation and encircle the targets. A numerical simulation example is given to verify the validity of the algorithm.

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