Direct Adaptive Formation Control of Multiple Mobile Robots Using Hierarchical Fuzzy Systems

被引：0
|
作者：
Wu, Kong-Yi [1 ]
Huo, Wei [1 ]
机构：
[1] Beijing Univ Aeronaut & Astronaut, Res Div 7, Beijing 100083, Peoples R China
来源：
2010 8TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA) | 2010年
关键词：
formation control; backstepping; hierarchical fuzzy systems; Lyapunov methods; adaptive algorithms; UUB;
D O I：
10.1109/WCICA.2010.5554824
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The Leader/Follower formation control of mobile robots with uncertain dynamical models is investigated in this paper and adaptive shape tracking controller is developed for the follower. Firstly, a kinematic shape tracking controller is presented based on the formation equation, then the shape tracking error equation is derived with backstepping technology and a direct adaptive dynamical shape tracking controller is constructed by using hierarchical fuzzy systems (HFSs) to approximate the uncertainties. It is proved that both shape tracking errors of the follower and adaptive parameters of the HFSs are uniformly ultimately bounded (UUB). Numerical simulations demonstrate the effectiveness of the proposed control strategies.
引用
收藏
页码：1386 / 1391
页数：6
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