Adaptive Distributed Fault-tolerant Formation Control for Multi-robot Systems under Partial Loss of Actuator Effectiveness

被引：0
作者：
Yeong-Hwa Chang
Chun-I Wu
Hung-Wei Lin
机构：
[1] Chang Gung University,Department of Electrical Engineering
[2] Ming Chi University of Technology,Department of Electrical Engineering
[3] Lee-Ming Institute of Technology,Department of Electrical Engineering
来源：
International Journal of Control, Automation and Systems | 2018年 / 16卷
关键词：
Adaptive control; dynamic surface control; fault-tolerant control; formation control; multi-robot systems;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper presents an adaptive distributed fault-tolerant formation control for multi-robot systems. Both the kinematics and dynamics of differential wheeled mobile robots are considered. In particular, the problem caused by actuator faults is investigated. Based on dynamic surface control techniques, adaptive formation controllers can be obtained under a directed communication network. The closed-loop stability is guaranteed by using Lyapunov stability analysis such that all followers can exponentially converge to a leader-follower formation pattern. Simulation and experimental results illustrate that the desired formation pattern can be preserved for a group of wheeled robots subject to unknown uncertainties and actuator faults.
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收藏
页码：2114 / 2124
页数：10
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