Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints

作     者：Hao Zhang Jianwen Sun Zhuping Wang Hao Zhang;Jianwen Sun;Zhuping Wang

作者机构：Department of Control Science and EngineeringTongji UniversityShanghai 201804China 

出 版 物：《IEEE/CAA Journal of Automatica Sinica》 (自动化学报（英文版）)

年 卷 期：2022年第9卷第2期

页      面：354-364页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0835[工学-软件工程] 0811[工学-控制科学与工程] 080201[工学-机械制造及其自动化] 

基　　金：supported by the National Natural Science Foundation of China(61922063,61773289) Shanghai Shuguang Project(18SG18) Shanghai Natural Science Foundation(19ZR1461400) Shanghai Sailing Program(20YF1452900) Fundamental Research Funds for the Central Universities 

主　　题：Adaptive control distributed formation control finite-time observer multi-robot systems slippage 

摘      要：This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage *** 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 ***,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 *** 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 *** distributed adaptive controllers are further designed for each follower robot such that the desired formation can be achieved while overcoming the effect of unknown ***,the effectiveness of the proposed observer and control laws are verified by simulation results.