Leader-follower formation control without leader's velocity information  

作　　者：SHEN DongBin SUN ZhenDong SUN WeiJie 

机构地区：[1]College of Automation Science and Engineering,South China University of Technology [2]Key Laboratory of Systems & Control,Academy of Mathematics and Systems Science,Chinese Academy of Sciences

出　　处：《Science China(Information Sciences)》2014年第9期226-237,共12页中国科学（信息科学）（英文版）

基　　金：supported by National Basic Research Program of China(973)(Grant No.2014CB845302);National Natural Science Foundation of China(Grant Nos.61004010,61273121)

摘　　要：In this paper,we consider the mobile robots formation control problem without direct measurement of the leader robot＇s linear velocity. Two decentralized nonlinear algorithms are proposed,respectively,based on adaptive dynamic feedback and immersion invariance estimation based second order sliding mode control methodologies. The main idea is to solve formation problem by estimating the leader robots＇ s linear velocity,while maintaining the given predefined separation distance and bearing angle between the leader robot and the follower robot. The stability of the closed-loop system is proven by means of the Lyapunov method. The proposed controllers are smooth,continuous and robust against unknown bounded uncertainties such as sensor inaccuracy between the outputs of sensors and the true values in collision free environments. Simulation examples and physical vehicles experiments are presented to verify the effectiveness of the proposed design approaches,and the proposed designed methodologies are carefully compared to illustrate the pros and cons of the approaches.In this paper,we consider the mobile robots formation control problem without direct measurement of the leader robot＇s linear velocity. Two decentralized nonlinear algorithms are proposed,respectively,based on adaptive dynamic feedback and immersion invariance estimation based second order sliding mode control methodologies. The main idea is to solve formation problem by estimating the leader robots＇ s linear velocity,while maintaining the given predefined separation distance and bearing angle between the leader robot and the follower robot. The stability of the closed-loop system is proven by means of the Lyapunov method. The proposed controllers are smooth,continuous and robust against unknown bounded uncertainties such as sensor inaccuracy between the outputs of sensors and the true values in collision free environments. Simulation examples and physical vehicles experiments are presented to verify the effectiveness of the proposed design approaches,and the proposed designed methodologies are carefully compared to illustrate the pros and cons of the approaches.

关 键 词：nonholonomic mobile robots leader-follower formation adaptive dynamic feedback adaptive estimation immersion ＆ invariance 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] V415[自动化与计算机技术—控制科学与工程]