scholarly journals Biologically-Inspired Learning and Adaptation of Self-Evolving Control for Networked Mobile Robots

2019 ◽  
Vol 9 (5) ◽  
pp. 1034 ◽  
Author(s):  
Sendren Sheng-Dong Xu ◽  
Hsu-Chih Huang ◽  
Tai-Chun Chiu ◽  
Shao-Kang Lin
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Kinematic Model ◽  
Control Law ◽  
Biologically Inspired ◽  
Modified Genetic Algorithm ◽  
Robot Systems ◽  
Learning And Adaptation ◽  
Self Learning ◽  
Adaptation Method

This paper presents a biologically-inspired learning and adaptation method for self-evolving control of networked mobile robots. A Kalman filter (KF) algorithm is employed to develop a self-learning RBFNN (Radial Basis Function Neural Network), called the KF-RBFNN. The structure of the KF-RBFNN is optimally initialized by means of a modified genetic algorithm (GA) in which a Lévy flight strategy is applied. By using the derived mathematical kinematic model of the mobile robots, the proposed GA-KF-RBFNN is utilized to design a self-evolving motion control law. The control parameters of the mobile robots are self-learned and adapted via the proposed GA-KF-RBFNN. This approach is extended to address the formation control problem of networked mobile robots by using a broadcast leader-follower control strategy. The proposed pragmatic approach circumvents the communication delay problem found in traditional networked mobile robot systems where consensus graph theory and directed topology are applied. The simulation results and numerical analysis are provided to demonstrate the merits and effectiveness of the developed GA-KF-RBFNN to achieve self-evolving formation control of networked mobile robots.

scholarly journals Practical Formation Control for Multiple Anonymous Robots System with Unknown Nonlinear Disturbances

2021 ◽  
Vol 11 (19) ◽  
pp. 9170
Author(s):  
Peng Xu ◽  
Jin Tao ◽  
Minyi Xu ◽  
Guangming Xie
Keyword(s):  
Theoretical Analysis ◽  
Mobile Robots ◽  
Distributed Control ◽  
Formation Control ◽  
Control Method ◽  
Control Law ◽  
Control Problems ◽  
Moving Target ◽  
Whole Process ◽  
Nonlinear Disturbances

This paper mainly investigates formation control problems for a group of anonymous mobile robots with unknown nonlinear disturbances on a plane, in which all robots can asymptotically converge to any formation patterns without collision, and maintain any required relative distance with neighboring robots. To solve this problem, all robots are modeled as kinematic points and can only acquire information from other robots and their targets. Furthermore, a flexible distributed control law is designed to solve the formation problem while no collisions between any robots can be guaranteed during the whole process. The outstanding feature of the proposed control method is that it can force all mobile robots to form not only uniform circle formations but also non-uniform and non-circular formations with moving target centers. At last, both theoretical analysis and numerical simulations show the feasibility of the proposed control law.

Lyapunov-Based Formation Control of Underwater Robots

Robotica ◽  
2019 ◽  
Vol 38 (6) ◽  
pp. 1105-1122 ◽  
Author(s):  
Ali Keymasi Khalaji ◽  
Rasoul Zahedifar
Keyword(s):  
Feedback Linearization ◽  
Formation Control ◽  
Control Algorithm ◽  
Kinematic Model ◽  
Lyapunov Theory ◽  
Control Law ◽  
Underwater Robots ◽  
Oceanographic Research ◽  
Inspection And Maintenance ◽  
Reliability And Robustness

SUMMARYToday, automatic diving robots are used for research, inspection, and maintenance, extensively. Control of autonomous underwater robots (AUVs) is challenging due to their nonlinear dynamics, uncertain models, and the system underactuation. Data collection using underwater robots is increasing within the oceanographic research community. Also, the ability to navigate and cooperate in a group of robots has many advantages compared with individual navigations. Among them, the effectiveness of using resources, the possibility of robots’ collaboration, increasing reliability, and robustness to defects can be pointed out. In this paper, the formation control of underwater robots has been studied. First, the kinematic model of the AUV is presented. Next, a novel Lyapunov-based tracking control algorithm is investigated for the leader robot. Subsequently, a control law is designed using Lyapunov theory and feedback linearization techniques to navigate a group of follower robots in a desired formation associated with the leader and follow it simultaneously. In the obtained results for different reference paths and various formations, the effectiveness of the proposed algorithm is represented.

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

2018 ◽  
Vol 38 (5) ◽  
pp. 548-557 ◽  
Author(s):  
Guo Yi ◽  
Jianxu Mao ◽  
Yaonan Wang ◽  
Hui Zhang ◽  
Zhiqiang Miao
Keyword(s):  
Formation Control ◽  
Stability And Convergence ◽  
Control Law ◽  
Biologically Inspired ◽  
Content Type ◽  
Formation Tracking ◽  
Vehicle System ◽  
Leader Following ◽  
Effectiveness And Efficiency ◽  
Nonholonomic Vehicles

Purpose 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/approach The 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. Findings The 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/value This paper proposes a neurodynamics-based leader–follower formation tracking algorithm for multiple nonholonomic vehicles.

scholarly journals Pengendalian konvergensi eksponensial untuk omnidirectional mobile robot dengan empat roda

JURNAL ELTEK ◽  
2020 ◽  
Vol 18 (1) ◽  
pp. 108
Author(s):  
Muhammad Jodi Pamenang ◽  
Indrazno Siradjuddin ◽  
Budhy Setiawan
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Motion Control ◽  
Kinematic Model ◽  
Robot Motion ◽  
Control Law ◽  
Task Space ◽  
Wheeled Mobile Robots ◽  
Simulation Experiments ◽  
Omnidirectional Mobile Robot

Tujuan mendasar dari kontrol gerak mobile robot adalah untuk mengarahkan robot ke posisi yang diberikan secara acak pada ruang 2D. Mobile robot dengan roda omni memiliki sifat holonomic di mana memiliki keunggulan kelincahan dan permasalahan pengendalian gerak hanya pada sisi aktuator, sedangkan mobile robot dengan roda konvensional, memiliki permasalahan tambahan pengendalian gerak dalam ruang area operasional robot. Karenanya, robot omni lebih gesit untuk bergerak dalam konfigurasi ruang area kerja apa pun. Makalah ini menyajikan model kontrol konvergensi eksponensial berbasis model untuk mobile robot omnidirectional roda empat. Kontrol yang diusulkan menjamin penurunan kesalahan secara eksponensial dari gerakan robot ke setiap posisi robot yang diinginkan. Pembahasan meliputi model kinematik dan kontrol dari robot bergerak omnidirectional roda empat dan eksperimen simulasi yang telah dilakukan untuk memverifikasi kinerja kontrol yang meliputi lintasan robot 2D, serta nilai error atau kesalahan pada kontrol robot. Hasil dari eksperimen simulasi menunjukkan keefektifan kontrol yang diusulkan. Mobile robot telah bergerak ke posisi yang diinginkan pada garis lurus dengan tujuan robot yang akurat dan niali error atau kesalahan yang didapat ialah |0.02735| serta grafik error telah menurun secara eksponensial.   The fundamental objective of a mobile robot motion control is to navigate the robot to any given arbitrary posture in which robot 2D location and its heading are concerned. Mobile robots with omni wheels have a holonomic properties the advantage is of agility and motion control problems only on the actuator, while mobile robots with conventional wheels, have a problem of motion control the robot in task space. Therefore, the omni-wheeled mobile robots are more agile to move in any task space configuration.  This paper presents a model based exponential convergence control law for a four-wheeled omnidirectional mobile robot. The proposed control law guarantees an exponential error decay of mobile robot motion to any given desired robot posture. The kinematic model and the control law of a four-wheeled omnidirectional mobile robot are discussed. Simulation experiments have been conducted to verify the control law performances which include the 2D robot trajectory, the error signals, and the robot control signals. Results from simulation experiments show the effectiveness of the proposed control law. Mobile robot has moved to the desired position in a straight line with the aim of the robot that is accurate and the error or error obtained is | 0.02735 | and the error graph has decreased exponentially

scholarly journals An algorithm for formation control of mobile robots

2013 ◽  
Vol 10 (1) ◽  
pp. 59-72 ◽  
Author(s):  
Aleksandar Cosic ◽  
Marko Susic ◽  
Stevica Graovac ◽  
Dusko Katic
Keyword(s):  
Mobile Robot ◽  
Mobile Robots ◽  
Trajectory Tracking ◽  
Formation Control ◽  
Control Structure ◽  
Kinematic Model ◽  
The Real ◽  
Avoidance Control ◽  
Simulation Results ◽  
High Level

Solution of the formation guidance in structured static environments is presented in this paper. It is assumed that high level planner is available, which generates collision free trajectory for the leader robot. Leader robot is forced to track generated trajectory, while followers? trajectories are generated based on the trajectory realized by the real leader. Real environments contain large number of static obstacles, which can be arbitrarily positioned. Hence, formation switching becomes necessary in cases when followers can collide with obstacles. In order to ensure trajectory tracking, as well as object avoidance, control structure with several controllers of different roles (trajectory tracking, obstacle avoiding, vehicle avoiding and combined controller) has been adopted. Kinematic model of differentially driven two-wheeled mobile robot is assumed. Simulation results show the efficiency of the proposed approach.

Multi-Agent Tracking of Non-Holonomic Mobile Robots via Non-Singular Terminal Sliding Mode Control

Robotica ◽  
2019 ◽  
Vol 38 (11) ◽  
pp. 1984-2000 ◽  
Author(s):  
Bilal M. Yousuf ◽  
Abdul Saboor Khan ◽  
Aqib Noor
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Tracking Error ◽  
Kinematic Model ◽  
Tracking Problem ◽  
Terminal Sliding Mode ◽  
Control Scheme ◽  
Multi Agent

SUMMARYThis paper deals with the problem of the formation control of nonholonomic mobile robots in the leader–follower scenario without considering the leader information, as a result of its velocity and position. The kinematic model is reformulated as a formation model by incorporating the model uncertainties and external disturbance. The controller is presented in the two-step process. Firstly, the tracking problem is taken into consideration, which can be used as a platform to design a controller for the multi-agents. The proposed controller is designed based on a non-singular fast terminal sliding mode controller (FTSMC), which drives the tracking error to zero in finite time. It not only ensures the tracking but also handles the problem related to non-singularities. Moreover, the design control scheme is modified using high-gain observer to resolve the undefined fluctuations due to man-made errors in sensors. Secondly, the multi-agent tracking problem is considered; hence, a novel formation control is designed using FTSMC, which ensures the formation pattern as well as tracking. Furthermore, the obstacle avoidance algorithm is incorporated to avoid the collision, inside the region of interest. With the Lyapunov analysis, the stability of the proposed algorithm is verified. As a result, simulated graphs are shown to prove the efficacy of the proposed control scheme.

scholarly journals Leader-Follower Formation Control of Wheeled Mobile Robots without Attitude Measurements

2021 ◽  
Vol 11 (12) ◽  
pp. 5639
Author(s):  
Jonathan Hirata-Acosta ◽  
Javier Pliego-Jiménez ◽  
César Cruz-Hernádez ◽  
Rigoberto Martínez-Clark
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Kinematic Model ◽  
Output Feedback Control ◽  
Open Loop ◽  
Wheeled Mobile Robots ◽  
Differential Drive ◽  
State Dependent ◽  
State Dependent Delay ◽  
Attitude Measurements

The problem of leader-follower formation of a platoon of differential-drive wheeled mobile robots without using attitude measurements is addressed in this paper. Contrary to the position-distance approaches existing in the literature, the formation and collision avoidance is achieved by introducing a state-dependent delay in the desired trajectory. The delay is obtained as the output of a dynamical system and its magnitude will decrease/increase depending on the distance between the robots. To guarantee trajectory tracking and to overcome the lack of orientation measurements, an output feedback control and attitude observer are proposed based on the kinematic model of the robots. The attitude observer is designed directly on the special orthogonal group SO(2) and it can be used in open-loop schemes. The proposed control-observer scheme ensures asymptotic convergence of the tracking and observer errors. Finally, experimental results are presented to show the performance of the proposed approach.

Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots with Actuator Dynamic Being Considered

2012 ◽  
Vol 433-440 ◽  
pp. 2596-2601 ◽  
Author(s):  
Guang Xin Han ◽  
Yan Hui Zhao
Keyword(s):  
Mobile Robots ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Closed Loop ◽  
Kinematic Model ◽  
Lyapunov Theory ◽  
Control Law ◽  
Wheeled Mobile Robots ◽  
Trajectory Tracking Control ◽  
Actuator Dynamics

In this paper trajectory tracking control problem for nonholonomic wheeled mobile robots with the actuator dynamics being considered is studied. On the basis of rotation error transformation and backstepping technique, tracking control law designed for kinematic model is backstepped into dynamic model and furthermore actuator dynamics is involved. Closed-loop stability is guaranteed by Lyapunov theory and Routh-Hurwitz Criterion. Finally simulation results for tracking typical trajectory are presented.

scholarly journals Consensus Formation Control for a Class of Networked Multiple Mobile Robot Systems

2012 ◽  
Vol 2012 ◽  
pp. 1-12 ◽  
Author(s):  
Long Sheng ◽  
Ya-Jun Pan ◽  
Xiang Gong
Keyword(s):  
Mobile Robots ◽  
Formation Control ◽  
Experimental Studies ◽  
Sufficient Conditions ◽  
Delay Systems ◽  
Linear Matrix ◽  
Consensus Formation ◽  
Control Gain ◽  
Robot Systems ◽  
Distributed Control Algorithm

A consensus-based formation control for a class of networked multiple mobile robots is investigated with a virtual leader approach. A novel distributed control algorithm is designed based on the Lyapunov method and linear matrix inequality (LMI) technique for time delay systems. A multiple Lyapunov Krasovskii functional candidate is proposed for investigating the sufficient conditions to linear control gain design for the system with constant time delays. Simulation results as well as experimental studies on Pioneer 3 series mobile robots are shown to verify the effectiveness of the proposed approach.

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