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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Leader-Following Formation Control of Nonholonomic Mobile Robots With Velocity Observers
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Leader-Following Formation Control of Nonholonomic Mobile Robots With Velocity Observers

机译：速度观察者的非完整移动机器人的领导者之后

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摘要

In many existing formation control approaches for nonholonomic mobile robots, the leader velocity is required to be measured and transmitted to the follower for controller design. Though some existing approaches can remove such a requirement, they have their respective shortcomings. For example, some are discontinuous, while others only ensure local closed-loop stability. In this article, we develop novel continuous formation controllers for mobile robots without measurement of the leader velocity such that communication between the mobile robots is not required. To address the unavailability issue of the leader velocity, observers based on adaptive control technique are proposed to obtain estimation of the leader velocity from information of the follower's onboard sensors. The effect of the velocity estimation error on the closed-loop stability is considered in the stability analysis based on Lyapunov stability theory, and it is shown that global stability of the combined observer-controller closed-loop system is ensured by the developed approaches. The effectiveness and performance of the developed approaches is illustrated using experimental results.
机译：在许多现有的形成控制方法对于非完整移动机器人的方法中，需要测量并传输到控制器设计的跟随者的速度。虽然一些现有方法可以消除这样的要求，但它们有各自的缺点。例如，有些是不连续的，而其他人只能确保局部闭环稳定性。在本文中，我们为移动机器人开发了新颖的连续地层控制器，而不会测量领导者速度，使得不需要移动机器人之间的通信。为了解决领导者速度的不可用问题，提出了基于自适应控制技术的观察者，从而获得了从追随器车载传感器的信息的领导者速度的估计。基于Lyapunov稳定性理论的稳定性分析，考虑了速度估计误差对闭环稳定性的影响，并且示出了由开发的方法确保了组合的观察者控制器闭环系统的全局稳定性。使用实验结果说明了发育方法的有效性和性能。

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