TY - GEN
T1 - Formation Control of Omnidirectional Mobile Robots Based on Bionic Coupling Mechanism
AU - Yang, Zhanwei
AU - Li, Shengjin
AU - Xu, Hao
AU - Yu, Dengxiu
AU - Wang, Zhen
AU - Philip Chen, C. L.
N1 - Publisher Copyright:
© 2021 IEEE.
PY - 2021
Y1 - 2021
N2 - In this paper, distributed formation control based on multiple omni-directional mobile robot systems(MOMRS) is studied. The model of omni-directional mobile robot exists the problems of nonlinear dynamics and input saturation, and there is a complicated coupling relationship in formation control. Firstly, according to the relationship between individuals in the natural community, a bionic coupling mechanism is proposed. Based on this, the formation control model of MOMRS with unknown nonlinear dynamics and input saturation constraints is established; Secondly, based on dynamic surface control and radial basis function neural network(RBF-NN), an adaptive formation controller is designed, which solves the problems of input saturation and nonlinear dynamics. Based on Lyapunov stability theorem, the stability of the controller is proved. Finally, six OMRs are used for simulation, and the simulation results prove the effectiveness of the designed controller.
AB - In this paper, distributed formation control based on multiple omni-directional mobile robot systems(MOMRS) is studied. The model of omni-directional mobile robot exists the problems of nonlinear dynamics and input saturation, and there is a complicated coupling relationship in formation control. Firstly, according to the relationship between individuals in the natural community, a bionic coupling mechanism is proposed. Based on this, the formation control model of MOMRS with unknown nonlinear dynamics and input saturation constraints is established; Secondly, based on dynamic surface control and radial basis function neural network(RBF-NN), an adaptive formation controller is designed, which solves the problems of input saturation and nonlinear dynamics. Based on Lyapunov stability theorem, the stability of the controller is proved. Finally, six OMRs are used for simulation, and the simulation results prove the effectiveness of the designed controller.
KW - Bionic Coupling Mechanism
KW - Dynamic Surface Control
KW - Formation Control
KW - Input Saturation
KW - Multi Omnidirectional Mobile Robot System
UR - http://www.scopus.com/inward/record.url?scp=85124151687&partnerID=8YFLogxK
U2 - 10.1109/ICUS52573.2021.9641498
DO - 10.1109/ICUS52573.2021.9641498
M3 - 会议稿件
AN - SCOPUS:85124151687
T3 - Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
SP - 184
EP - 189
BT - Proceedings of 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Unmanned Systems, ICUS 2021
Y2 - 15 October 2021 through 17 October 2021
ER -