Proceedings ArticleDOI
Adaptive dynamic surface control for fault-tolerant multi-robot systems
Yeong-Hwa Chang,Wei-Shou Chan,Cheng-Yuan Yang,Chin-Wang Tao,Shun-Feng Su +4 more
- pp 25-30
TLDR
In this paper, a robust adaptive control method for multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered, is presented.Abstract:
This paper presents a new robust adaptive control method for multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered. Particularly, the situations involving partial loss of actuator effectiveness are addressed. Distributed controllers are derived based on dynamic surface control techniques over networked multiple robots. In addition, adaptive mechanisms are applied to estimate the bounds of effectiveness factor and uncertainty bounds. The robust stability of the multi-robot systems are preserved by using the Lyapunov theorem. The proposed controller can make the robots reach a desired formation following a designate trajectory. Simulation results indicate that the proposed control scheme has superior responses compared to conventional dynamic surface control.read more
Citations
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Journal ArticleDOI
Formation control and coordination of multiple unmanned ground vehicles in normal and faulty situations: A review
TL;DR: A comprehensive literature review on the strategies and methodologies applied for formation control of multiple unmanned ground vehicles in both normal and faulty situations is presented.
Journal ArticleDOI
Cooperative control for consensus of multi-agent systems with actuator faults
TL;DR: Consensus tracking problem in multi-agent systems with both outage and partial loss of effectiveness types of actuator faults is investigated and a distributed control strategy is developed by using locally available information.
Journal ArticleDOI
Predesignated fault-tolerant formation tracking quality for networked uncertain nonholonomic mobile robots in the presence of multiple faults
Sung Jin Yoo,Tae-Hyoung Kim +1 more
TL;DR: This paper presents a fault-tolerant formation tracking scheme ensuring predesignated bounds of overshoot, convergence rate, and steady-state values of distributed formation errors for networked nonholonomic mobile robots in the presence of unexpected multiple actuator and system faults.
Proceedings ArticleDOI
Adaptive output-feedback fault-tolerant tracking control for mobile robots under partial loss of actuator effectiveness
TL;DR: Results of simulations verify that the desired control object can be preserved under various uncertainties and actuator faults, and it can be shown that all closed-loop signals are uniformly ultimately bounded using Lyapunov stability analysis.
Journal ArticleDOI
Continuous mobility of mobile robots with a special ability for overcoming driving failure on rough terrain
He Xu,Xiao-Zhi Gao,Yan Xu,Kaifeng Wang,Yu Hongpeng,Li Zhen,Khalil Alipour,Ozoemena Anthony Ani +7 more
TL;DR: In this study, quasi-static force analysis is carried out to understand the effects of different driving-failure modes on the mobile robot while moving on rough terrain and robot configuration transformation is employed to select the optimal configuration that can overcome the driving failure.
References
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Consensus problems in networks of agents with switching topology and time-delays
TL;DR: A distinctive feature of this work is to address consensus problems for networks with directed information flow by establishing a direct connection between the algebraic connectivity of the network and the performance of a linear consensus protocol.
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Dynamic surface control for a class of nonlinear systems
TL;DR: A method is proposed for designing controllers with arbitrarily small tracking error for uncertain, mismatched nonlinear systems in the strict feedback form and it is shown that these low pass filters allow a design where the model is not differentiated, thus ending the complexity arising due to the "explosion of terms" that has made other methods difficult to implement in practice.
Journal ArticleDOI
Leader-following consensus of multi-agent systems under fixed and switching topologies ☆
Wei Ni,Daizhan Cheng +1 more
TL;DR: The control of each agent using local information is designed and detailed analysis of the leader-following consensus is presented for both fixed and switching interaction topologies, which describe the information exchange between the multi-agent systems.
Journal ArticleDOI
Adaptive cooperative tracking control of higher-order nonlinear systems with unknown dynamics
Hongwei Zhang,Frank L. Lewis +1 more
TL;DR: A practical design method is developed for cooperative tracking control of higher-order nonlinear systems with a dynamic leader using a robust adaptive neural network controller for each follower node such that all follower nodes ultimately synchronize to the leader node with bounded residual errors.