Work

Formation tracking control for a class of multiple mobile robots in the presence of unknown skidding and slipping

Year: 2013

Type: article

Abstract: This study investigates the formation control problem for a class of multiple mobile robots considering unknown skidding and slipping, and torque saturation. The kinematics and dynamics of multiple mobile robots with skidding and slipping effects are considered. The proposed formation control scheme is derived from the dynamic surface design and virtual structure approach where the reference trajectories consisting of path parameters are employed to satisfy both the tracking control and the formation maintenance. The adaptive technique is used to compensate the unknown skidding and slipping effects. From Lyapunov‐stability analysis, we prove regardless of unknown skidding and slipping that all signals of the total closed‐loop system are semiglobally uniformly ultimately bounded and the point‐tracking errors and the synchronisation error for the desired formation converge to an adjustable neighbourhood of the origin. In addition, it is analysed that the orientation error for each robot is related to the speed of the reference trajectory and the skidding effect. The performance and stability of the proposed approach are verified from simulation results.

Source: IET Control Theory and Applications

DOI: 10.1049/iet-cta.2012.0179

Authors: Sung Jin Yoo, Bong Seok Park

Institutions: Chung-Ang University, Chosun University

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: bronze

Funders: National Research Foundation, Chung-Ang University, National Research Foundation of Korea, Ministry of Education, Science and Technology

Awards: G1926394241, G6202084040