Distributed Disturbance-and-Leader Estimation for Controlling Networks of Nonholonomic Mobile Robots

This work studies the formation control problem for mobile robots. The distinguishing feature of this work is considering the leader and the followers dynamics to be non-ideal, i.e. subject to disturbances/unmodelled terms. Distributed joint disturbance-and-leader estimators are designed to solve th...

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Bibliographic Details
Published in:IEEE transactions on circuits and systems. I, Regular papers Regular papers, 2022-09, Vol.69 (9), p.3762-3771
Main Authors: Lu, Peifen, Wu, Zongze, Baldi, Simone, Yu, Wenwu
Format: Article
Language:English
Subjects:
Algorithms
Angular velocity
Bounded disturbance
Control theory
distributed estimator
Disturbances
Estimation
Estimators
formation control
Mobile robots
nonholonomic mobile robots
Nuclear magnetic resonance
Robot control
Stability analysis
Uncertainty
Vehicle dynamics
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Summary:This work studies the formation control problem for mobile robots. The distinguishing feature of this work is considering the leader and the followers dynamics to be non-ideal, i.e. subject to disturbances/unmodelled terms. Distributed joint disturbance-and-leader estimators are designed to solve the problem, allowing to reconstruct the leader's signals in a distributed way. The estimates of the leader and the follower disturbances provided by the estimators are embedded in the control law to reject such disturbances and achieve the formation asymptotically. Lyapunov technique is employed to analyze stability of the overall distributed formation control algorithm. Simulations are conducted to illustrate the theoretical results.
ISSN:1549-8328
1558-0806
DOI:10.1109/TCSI.2022.3176930