Neuro-Adaptive Cooperative Tracking Rendezvous of Nonholonomic Mobile Robots

被引：16

作者：

Lu, Peifen ^{[1
]}

Baldi, Simone ^{[2
,3
]}

Chen, Guanrong ^{[4
]}

Yu, Wenwu ^{[1
]}

机构：

[1] Southeast Univ, Sch Math, Nanjing 210096, Peoples R China

[2] Southeast Univ, Sch Math, Nanjing 211189, Peoples R China

[3] Delft Univ Technol, Delft Ctr Syst & Control, NL-2628 CD Delft, Netherlands

[4] City Univ Hong Kong, Dept Elect Engn, Hong Kong, Peoples R China

来源：

IEEE TRANSACTIONS ON CIRCUITS AND SYSTEMS II-EXPRESS BRIEFS | 2020年 / 67卷 / 12期

基金：

中国博士后科学基金; 中国国家自然科学基金;

关键词：

Nuclear magnetic resonance; Mobile robots; Vehicle dynamics; Circuits and systems; Lyapunov methods; Uncertainty; Nonholonomic mobile robot; cooperative rendezvous; neuro-adaptive control; distributed estimator; MULTIAGENT SYSTEMS; CONSENSUS; SYNCHRONIZATION; CONTROLLER;

D O I：

10.1109/TCSII.2020.2969373

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

This brief proposes a neuro-adaptive method for the unsolved problem of cooperative tracking rendezvous of nonholonomic mobile robots (NMRs) subject to uncertain and unmodelled dynamics. A hierarchical cooperative control framework is proposed, which consists of a novel distributed estimator along with local neuro-adaptive tracking controllers. Rigorous stability analysis as well as simulation experiments illustrate the proposed method.

引用

页码：3167 / 3171

页数：5

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