Fuzzy inferencing-based path planning with a cyber-physical framework and adaptive second-order SMC for routing and mobility control in a robotic network  

作　　者：Anuj Nandanwar Ranjith Ravindranathan Nair Laxmidhar Behera 

机构地区：[1]Department of Electrical Engineering,Indian Institute of Technology Kanpur,Kanpur 208016,India [2]Department of Electronics and Communication Engineering,Indian Institute of Information Technology Pune,Pune 411048,India

出　　处：《IET Cyber-Systems and Robotics》2020年第3期149-160,共12页智能系统与机器人（英文）

摘　　要：In this study,the authors address the problem of optimal routing and relative motion control in a network of robots.The path planning scheme has been designed using a fuzzy-based potential function employing optimal routing parameters.The optimal routing variables,such as routing probability and the transmission rate are obtained using a discrete optimisation problem.To deal with the disturbances and uncertainties in the physical system,an adaptive second-order sliding mode control(SMC)scheme has been proposed for the relative motion control of the networks of robots,where the disturbances are estimated using a novel disturbance observer and the controller parameters are updated online using an adaptive tuning algorithm derived based on Lyapunov theory.The robustness of the proposed path planner and the control scheme are validated through simulation as well as through real-time experimentation based on Pioneer P3-DX robots.The comparison results based on conventional SMC and adaptive SMC are also drawn.

关 键 词：NETWORK PIONEER tuning 

分 类 号：TN9[电子电信—信息与通信工程]