CASIA OpenIR  > 学术期刊  > IEEE/CAA Journal of Automatica Sinica
Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints
Hao Zhang; Jianwen Sun; Zhuping Wang
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2022
Volume9Issue:2Pages:354-364
AbstractThis paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage constraints. It is difficult for robots to obtain accurate and stable global position information in many cases, such as when indoors, tunnels and any other environments where GPS (global positioning system) is denied, thus it is meaningful to overcome the dependence on global position information. Additionally, unknown slippage, which is hard to avoid for wheeled robots due to the existence of ice, sand, or muddy roads, can not only affect the control performance of wheeled robot, but also limits the application scene of wheeled mobile robots. To solve both problems, a fully distributed finite time state observer which does not require any global position information is proposed, such that each follower robot can estimate the leader’s states within finite time. The distributed adaptive controllers are further designed for each follower robot such that the desired formation can be achieved while overcoming the effect of unknown slippage. Finally, the effectiveness of the proposed observer and control laws are verified by simulation results.
KeywordAdaptive control distributed formation control finite-time observer multi-robot systems slippage
DOI10.1109/JAS.2021.1004329
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Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/45995
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
GB/T 7714
Hao Zhang,Jianwen Sun,Zhuping Wang. Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints[J]. IEEE/CAA Journal of Automatica Sinica,2022,9(2):354-364.
APA Hao Zhang,Jianwen Sun,&Zhuping Wang.(2022).Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints.IEEE/CAA Journal of Automatica Sinica,9(2),354-364.
MLA Hao Zhang,et al."Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints".IEEE/CAA Journal of Automatica Sinica 9.2(2022):354-364.
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