Adaptive Constrained Formation-Tracking Control for a Tractor-Trailer Mobile Robot Team With Multiple Constraints

被引：43
作者：
Jin, Xu [1 ]
Dai, Shi-Lu [2 ]
Liang, Jianjun [2 ]
机构：
[1] Univ Kentucky, Dept Mech Engn, Lexington, KY 40506 USA
[2] South China Univ Technol, Sch Automat Sci & Engn, Guangzhou 510641, Peoples R China
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2023年 / 68卷 / 03期
基金：
中国国家自然科学基金;
关键词：
Mobile robots; Safety; Trajectory; Agricultural machinery; Wheels; Upper bound; Transportation; Adaptive formation tracking; feasibility constraint; precision constraint; safety constraint; tractor-trailer mobile robot system; BARRIER LYAPUNOV FUNCTIONS; FOLLOWER FORMATION CONTROL; SURFACE VESSELS; SYSTEMS; RANGE; TRUCK;
D O I：
10.1109/TAC.2022.3151846
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A team of multiple tractor-trailer mobile robots has many applications in areas including agriculture, logistics, transportation, etc. In this article, we propose a novel adaptive constrained formation-tracking control algorithm for the trailers in a tractor-trailer mobile robot team to track a desired formation, while satisfying multiple precision, safety, and feasibility constraint requirements during the operation. Both universal barrier function approaches and a novel state transformation scheme are incorporated to deal with constraints of different nature. Adaptive estimators are introduced to estimate the rate of change of the desired trajectories for all trailers. We show that exponential convergence to a small neighborhood of the equilibrium can be guaranteed. In the end, a MATLAB simulation example and a Gazebo simulator study further demonstrate the efficacy of the proposed algorithm.
引用
收藏
页码：1700 / 1707
页数：8
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