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leader-follower formation control without leader's velocity information

Science China(Information Sciences) 2014年第9期57卷 230-241页

作者： SHEN DongBin SUN ZhenDong SUN WeiJie College of Automation Science and Engineering South China University of Technology Key Laboratory of Systems & Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences

In this paper,we consider the mobile robots formation control problem without direct measurement of the leader robot’s linear *** decentralized nonlinear algorithms are proposed,respectively,based on adaptive dynamic feedback and immersion&invariance estimation based second order sliding mode control *** main idea is to solve formation problem by estimating the leader robots’s linear velocity,while maintaining the given predefined separation distance and bearing angle between the leader robot and the follower *** stability of the closed-loop system is proven by means of the Lyapunov *** proposed controllers are smooth,continuous and robust against unknown bounded uncertainties such as sensor inaccuracy between the outputs of sensors and the true values in collision free *** examples and physical vehicles experiments are presented to verify the effectiveness of the proposed design approaches,and the proposed designed methodologies are carefully compared to illustrate the pros and cons of the approaches.

关键词： nonholonomic mobile robots leader-follower formation adaptive dynamic feedback adaptive estimation immersion & invariance

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Robust Adaptive Gain Higher Order Sliding Mode Observer Based Control-constrained Nonlinear Model Predictive Control for Spacecraft formation Flying

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IEEE/CAA Journal of Automatica Sinica 2018年第1期5卷 367-381页

作者： Ranjith Ravindranathan Nair Laxmidhar Behera Department of Electrical Engineering Indian Institute of TechnologyKanpur Kanpur-208 016India IEEE

This work deals with the development of a decentralized optimal control algorithm, along with a robust observer,for the relative motion control of spacecraft in leader-follower based formation. An adaptive gain higher order sliding mode observer has been proposed to estimate the velocity as well as unmeasured disturbances from the noisy position measurements.A differentiator structure containing the Lipschitz constant and Lebesgue measurable control input, is utilized for obtaining the estimates. Adaptive tuning algorithms are derived based on Lyapunov stability theory, for updating the observer gains,which will give enough flexibility in the choice of initial ***, it may help to cope with unexpected state jerks. The trajectory tracking problem is formulated as a finite horizon optimal control problem, which is solved online. The control constraints are incorporated by using a nonquadratic performance functional. An adaptive update law has been derived for tuning the step size in the optimization algorithm, which may help to improve the convergence speed. Moreover, it is an attractive alternative to the heuristic choice of step size for diverse operating conditions. The disturbance as well as state estimates from the higher order sliding mode observer are utilized by the plant output prediction model, which will improve the overall performance of the controller. The nonlinear dynamics defined in leader fixed Euler-Hill frame has been considered for the present work and the reference trajectories are generated using Hill-Clohessy-Wiltshire equations of unperturbed motion. The simulation results based on rigorous perturbation analysis are presented to confirm the robustness of the proposed approach.

关键词： Adaptive gain higher order sliding mode observer leader-follower formation nonlinear model predictive control spacecraft formation flying tracking control

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Second-Order Sliding Mode Control for Nonholonomic Mobile Robots formation

Second-Order Sliding Mode Control for Nonholonomic Mobile Ro...

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第三十届中国控制会议

作者： SHEN Dongbin,SUN Zhendong,QIAO Yupeng SCUT-CUHK Joint Center for Automation Science and Engineering, South China University of Technology,Guangzhou 510460,P.R.China

＜正＞In this paper,we propose decentralized nonholonomic algorithms for mobile robots formation control via secondorder sliding mode *** problem of formation control is solved by keeping separated distances and bearing desired angles between the leader robot and follower *** of the orientation of the follower robots is achieved by means of a （l-Ψ）-based *** also develop a（l—l）-based algorithm to control the distances between the leader and followers for a *** proposed controllers are smooth,continuous,and robust against unknown bounded sensor installation errors. An illustrative example is presented to verify the effectiveness of the approach.

关键词： Nonholonomic Mobile Robots leader-follower formation Sliding Mode

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