Adaptive fuzzy formation control for a swarm of nonholonomic differentially driven vehicles |
| |
Authors: | Bijan Ranjbarsahraei Mehdi Roopaei Siavash Khosravi |
| |
Institution: | (1) INRIA Sophia-Antipolis, 2004 Route des Lucioles, 06902 Sophia-Antipolis, France;(2) INRIA Sophia-Antipolis, 2004 Route des Lucioles, 06902 Sophia-Antipolis, France |
| |
Abstract: | In this paper, an adaptive fuzzy robust H
∞ controller is proposed for formation control of a swarm of differential driven vehicles with nonholonomic dynamic models.
Artificial potential functions are used to design the formation control input for kinematic model of the robots and matrix
manipulations are used to transform the nonholonomic model of each differentially driven vehicle into equivalent holonomic
one. The main advantage of the proposed controller is the robustness to input nonlinearity, external disturbances, model uncertainties,
and measurement noises, in a formation control of a nonholonomic robotic swarm. Moreover, robust stability proof is given
using Lyapunov functions. Finally, simulation results are demonstrated for a swarm formation problem of a group of six unicycles,
illustrating the effective attenuation of approximation error and external disturbances, even in the case of robot failure. |
| |
Keywords: | |
本文献已被 SpringerLink 等数据库收录! |
|