Distributed Disturbance-and-Leader Estimation for Controlling Networks of Nonholonomic Mobile Robots

Peifen Lu; Zongze Wu; Simone Baldi; Wenwu Yu

doi:10.1109/TCSI.2022.3176930

Distributed Disturbance-and-Leader Estimation for Controlling Networks of Nonholonomic Mobile Robots

Peifen Lu
, Zongze Wu
, Simone Baldi
, Wenwu Yu

Research output: Contribution to journal › Article › peer-review

21 Scopus citations

Abstract

This work studies the formation control problem for mobile robots. The distinguishing feature of this work is considering the leader and the followers dynamics to be non-ideal, i.e. subject to disturbances/unmodelled terms. Distributed joint disturbance-and-leader estimators are designed to solve the problem, allowing to reconstruct the leader's signals in a distributed way. The estimates of the leader and the follower disturbances provided by the estimators are embedded in the control law to reject such disturbances and achieve the formation asymptotically. Lyapunov technique is employed to analyze stability of the overall distributed formation control algorithm. Simulations are conducted to illustrate the theoretical results.

Original language	English
Pages (from-to)	3762-3771
Number of pages	10
Journal	IEEE Transactions on Circuits and Systems I: Regular Papers
Volume	69
Issue number	9
DOIs	https://doi.org/10.1109/TCSI.2022.3176930
State	Published - 1 Sep 2022
Externally published	Yes

Keywords

Bounded disturbance
distributed estimator
formation control
nonholonomic mobile robots

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10.1109/TCSI.2022.3176930

Cite this

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title = "Distributed Disturbance-and-Leader Estimation for Controlling Networks of Nonholonomic Mobile Robots",

abstract = "This work studies the formation control problem for mobile robots. The distinguishing feature of this work is considering the leader and the followers dynamics to be non-ideal, i.e. subject to disturbances/unmodelled terms. Distributed joint disturbance-and-leader estimators are designed to solve the problem, allowing to reconstruct the leader's signals in a distributed way. The estimates of the leader and the follower disturbances provided by the estimators are embedded in the control law to reject such disturbances and achieve the formation asymptotically. Lyapunov technique is employed to analyze stability of the overall distributed formation control algorithm. Simulations are conducted to illustrate the theoretical results.",

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AU - Lu, Peifen

AU - Wu, Zongze

AU - Baldi, Simone

AU - Yu, Wenwu

PY - 2022/9/1

Y1 - 2022/9/1

N2 - This work studies the formation control problem for mobile robots. The distinguishing feature of this work is considering the leader and the followers dynamics to be non-ideal, i.e. subject to disturbances/unmodelled terms. Distributed joint disturbance-and-leader estimators are designed to solve the problem, allowing to reconstruct the leader's signals in a distributed way. The estimates of the leader and the follower disturbances provided by the estimators are embedded in the control law to reject such disturbances and achieve the formation asymptotically. Lyapunov technique is employed to analyze stability of the overall distributed formation control algorithm. Simulations are conducted to illustrate the theoretical results.

AB - This work studies the formation control problem for mobile robots. The distinguishing feature of this work is considering the leader and the followers dynamics to be non-ideal, i.e. subject to disturbances/unmodelled terms. Distributed joint disturbance-and-leader estimators are designed to solve the problem, allowing to reconstruct the leader's signals in a distributed way. The estimates of the leader and the follower disturbances provided by the estimators are embedded in the control law to reject such disturbances and achieve the formation asymptotically. Lyapunov technique is employed to analyze stability of the overall distributed formation control algorithm. Simulations are conducted to illustrate the theoretical results.

KW - Bounded disturbance

KW - distributed estimator

KW - formation control

KW - nonholonomic mobile robots

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JO - IEEE Transactions on Circuits and Systems I: Regular Papers

JF - IEEE Transactions on Circuits and Systems I: Regular Papers

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ER -

Distributed Disturbance-and-Leader Estimation for Controlling Networks of Nonholonomic Mobile Robots

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Keywords

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