Connectivity-preserving-based distributed adaptive asymptotically synchronised tracking of networked uncertain nonholonomic mobile robots with actuator failures and unknown control directions

This brief addresses a distributed adaptive asymptotically synchronous tracking problem based on guaranteed connectivity for networked uncertain nonholonomic mobile robots (NMRs) with actuator failures and unknown control directions. First, a radial basis function (RBF) neural network is used to app...

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Bibliographic Details
Published in:International journal of systems science 2021-08, Vol.52 (11), p.2358-2374
Main Authors: Xu, Yujing, Wang, Chaoli, Yan, Weigang, Lin, Mingfeng, Tao, Jianguo
Format: Article
Language:English
Subjects:
Actuator failure
Actuator failures
Actuators
Adaptive control
Asymptotic properties
Connectivity
connectivity preservation
distributed synchronised tracking
Feedback control
Neural networks
nonholonomic mobile robots
partially unknown control directions
Radial basis function
Robots
Robust control
Tracking errors
Tracking problem
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Summary:This brief addresses a distributed adaptive asymptotically synchronous tracking problem based on guaranteed connectivity for networked uncertain nonholonomic mobile robots (NMRs) with actuator failures and unknown control directions. First, a radial basis function (RBF) neural network is used to approximate the unknown nonlinear functions, and a distributed nonlinear error surface is introduced to achieve synchronous tracking between NMRs and maintain the initial connectivity patterns. Then, a conditional inequality that allows multiple piecewise Nussbaum functions to achieve robust control is proposed to solve the problem of unknown actuator failures and unknown control directions. Moreover, the proposed protocol ensures that all signals in the closed-loop system are globally bounded and the tracking errors converge asymptotically to zero. Finally, a simulation example verifies the effectiveness of the proposed adaptive laws.
ISSN:0020-7721
1464-5319
DOI:10.1080/00207721.2021.1888165