Adaptive Synchronized Formation Control Considering Communication Constraints

The adaptive synchronized formation control problem of multiple mobile robots is studied in this paper. The communication constraints, including time-varying delays and data sampling, are considered in problem formulation and system design. Furthermore, the parameter uncertainties in system dynamics have also been taken into account and an adaptive formation controller is presented which enables the robot network to achieve the synchronized formation task adaptively. Convergence analyses of the proposed method are presented and several useful properties are provided. Simulation results validate the effectiveness of the proposed adaptive synchronized formation control approach.

[1]  Javad Lavaei,et al.  A Model Predictive Decentralized Control Scheme With Reduced Communication Requirement for Spacecraft Formation , 2008, IEEE Transactions on Control Systems Technology.

[2]  Gang Feng,et al.  A Synchronization Approach to Trajectory Tracking of Multiple Mobile Robots While Maintaining Time-Varying Formations , 2009, IEEE Transactions on Robotics.

[3]  Soon-Jo Chung,et al.  Cooperative Robot Control and Concurrent Synchronization of Lagrangian Systems , 2007, IEEE Transactions on Robotics.

[4]  Tao Zou,et al.  A finite-time approach to formation control of multiple mobile robots with terminal sliding mode , 2012, Int. J. Syst. Sci..

[5]  Stephen P. Boyd,et al.  Linear Matrix Inequalities in Systems and Control Theory , 1994 .

[6]  Vladimir A. Yakubovich,et al.  Linear Matrix Inequalities in System and Control Theory (S. Boyd, L. E. Ghaoui, E. Feron, and V. Balakrishnan) , 1995, SIAM Rev..

[7]  Kouhei Ohnishi,et al.  Autonomous decentralized control for formation of multiple mobile robots considering ability of robot , 2004, IEEE Transactions on Industrial Electronics.

[8]  Guoqiang Hu,et al.  Multi-robot formation control using distributed null space behavioral approach , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[9]  Wolfram Burgard,et al.  Coordinated multi-robot exploration , 2005, IEEE Transactions on Robotics.

[10]  Randal W. Beard,et al.  A coordination architecture for spacecraft formation control , 2001, IEEE Trans. Control. Syst. Technol..

[11]  Vijay Kumar,et al.  Cooperative Visibility Maintenance for Leader–Follower Formations in Obstacle Environments , 2014, IEEE Transactions on Robotics.

[12]  Chien Chern Cheah,et al.  Region-based shape control for a swarm of robots , 2009, Autom..

[13]  Zhe Liu,et al.  Formation Control of Mobile Robots Using Distributed Controller With Sampled-Data and Communication Delays , 2016, IEEE Transactions on Control Systems Technology.

[14]  Randal W. Beard,et al.  A decentralized approach to formation maneuvers , 2003, IEEE Trans. Robotics Autom..

[15]  Sung Jin Yoo,et al.  Brief paper: adaptive formation tracking control of electrically driven multiple mobile robots , 2010 .

[16]  David J. Hill,et al.  Global Asymptotical Synchronization of Chaotic Lur'e Systems Using Sampled Data: A Linear Matrix Inequality Approach , 2008, IEEE Transactions on Circuits and Systems II: Express Briefs.