Synthesis of Nonlinear Control Law of a Group of Tracked Robots

• Main Authors: Veselov, Gennady, Sklyarov, Andrey
• Format: Conference Proceeding
• Language: English
• Subjects: Control systems; Fuzzy logic; group control; Mathematical model; Mobile robots; non-linear mathematical model; Robot kinematics; synergetic control theory; Task analysis; tracked robot
• ISSN: 2161-1351
• DOI: 10.1109/DeSE.2019.00094

The paper presents a solution of the problem of non-linear control law design for a group of mobile robots. The paper also provides a survey of modern methods and approaches to group control, discusses the use of methods for optimizing collective behavior, artificial potential fields, heuristic methods based on the recognition of the situation and the development of appropriate actions and methods based on the use of fuzzy logic. It is shown that when applying these methods, the problem of analyzing the stability of the obtained closed-loop control system is complex. From the survey of modern methods, the basic conditions imposed on the synthesized law of group control of robots are highlighted. These conditions are adaptability to the external environment and asymptotically stable movement of mobile robots to a given point in space with a given type of order. Therefore, the paper presents a method which is based on new non-linear approaches to the control of mobile robots' group, in particular, synergetic control theory. The main aspects of the proposed method are providing a stable moving of a group of tracked robots to the desire position, therefor in the result it makes a specified formation.