Connectivity preserving design strategy for distributed adaptive cooperative control of networked uncertain nonholonomic mobile robots with unknown control directions
作者单位：Department of Control Science and Engineering University of Shanghai for Science and Technology
会议名称：《第40届中国控制会议》
会议日期：2021年
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]
关 键 词：Connectivity preservation Distributed synchronized tracking Nonholonomic mobile robots Partially unknown control directions
摘 要：This brief addresses a distributed adaptive asymptotically synchronous tracking problem based on guaranteed connectivity for networked uncertain nonholonomic mobile robots（NMRs） with unknown control directions. First, a radial basis function（RBF） neural network is used to approximate the unknown nonlinear functions, and a distributed nonlinear error surface is introduced to achieve synchronous tracking between NMRs and maintain the initial connectivity patterns. Then, a conditional inequality that allows multiple piecewise Nussbaum functions to achieve robust control is proposed to solve the problem of unknown control directions. Moreover, the proposed protocol ensures that all signals in the closed-loop system are globally bounded and the tracking errors converge asymptotically to zero. Finally, a simulation example verifies the effectiveness of the proposed adaptive laws.