TY - GEN
T1 - Distributed adaptive control of mobile robots with unknown parameters
AU - Cheng, Xiaojun
AU - Huang, Jiangshuai
AU - Gao, Tingting
AU - Wang, Song
AU - Zhang, Meng
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - In this paper, formation control problem of second-order mobile robots with uncertain model and reference trajectory parameters is investigated. It is assumed that the multiagent systems have the same structure of each subsystem, but the the model parameters are different and unknown, and only some of the systems can obtain the desired trajectory information. For this system, the communication topology of the system is represented by a directed graph, and the local consistency error is introduced. Based on the backstepping method, parameter estimators are designed, which estimate the unknown parameters in the model and the desired trajectory based on limited information, and the adaptive controller is also designed which achieves asymptotically tracking of the robot for the desired trajectory. Finally, the formation control of the multi-agent systems on the desired trajectory is realized through simulation, and the feasibility and effectiveness of the control strategy are verified.
AB - In this paper, formation control problem of second-order mobile robots with uncertain model and reference trajectory parameters is investigated. It is assumed that the multiagent systems have the same structure of each subsystem, but the the model parameters are different and unknown, and only some of the systems can obtain the desired trajectory information. For this system, the communication topology of the system is represented by a directed graph, and the local consistency error is introduced. Based on the backstepping method, parameter estimators are designed, which estimate the unknown parameters in the model and the desired trajectory based on limited information, and the adaptive controller is also designed which achieves asymptotically tracking of the robot for the desired trajectory. Finally, the formation control of the multi-agent systems on the desired trajectory is realized through simulation, and the feasibility and effectiveness of the control strategy are verified.
KW - adaptive control
KW - backstepping technique
KW - distributed control
KW - formation control
KW - parameter estimate
UR - https://www.scopus.com/pages/publications/85181831944
U2 - 10.1109/CCDC58219.2023.10327357
DO - 10.1109/CCDC58219.2023.10327357
M3 - 会议稿件
AN - SCOPUS:85181831944
T3 - Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023
SP - 2624
EP - 2629
BT - Proceedings of the 35th Chinese Control and Decision Conference, CCDC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 35th Chinese Control and Decision Conference, CCDC 2023
Y2 - 20 May 2023 through 22 May 2023
ER -