Hostname: page-component-78c5997874-mlc7c Total loading time: 0 Render date: 2024-11-20T04:17:27.121Z Has data issue: false hasContentIssue false
  • English
  • Français

Robust Output-Feedback Formation Control Design for Nonholonomic Mobile Robot (NMRs)

Published online by Cambridge University Press:  31 January 2019

Bilal M. Yousuf Open the ORCID record for Bilal M. Yousuf [Opens in a new window]
Bilal M. Yousuf*
Affiliation:
Department of Electronics and Power Engineering, Pakistan Navy Engineering College, National University of Sciences and Technology (NUST), Karachi, Pakistan
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper addresses the systematic approach to design formation control for kinematic model of unicycle-type nonholonomic mobile robots. These robots are difficult to stabilize and control due to their nonintegrable constraints. The difficulty of control increases when there is a requirement to control a cluster of nonholonomic mobile robots in specific formation. In this paper, the design of the control scheme is presented in a three-step process. First, a robust state-feedback point-to-point stabilization control is designed using sliding mode control. In the second step, the controller is modified so as to address the tracking problem for time-varying reference trajectories. The proposed control scheme is shown to provide the desired robustness properties in the presence of the parameter variation, in the region of interest. Finally, in third step, tracking problem of a single nonholonomic mobile robot extends to formation control for a group of mobile robots in the leader–follower scenario using integral terminal- based sliding mode control augmented with stabilizing control. Starting with the transformation of the mathematical model of robots, the proposed controller ensures that the robots maintain a constant distance between each other to avoid collision. The main problem with the proposed controller is that it requires all states specially velocities. Therefore, the state-feedback control scheme is then extended to output feedback by incorporating a highgain observer. With the help of Lyapunov analysis and appropriate simulations, it is shown that the proposed output-feedback control scheme achieves the required control objectives. Furthermore, the closed loop system trajectories reach to desired equilibrium point in finite time while maintaining the special pattern.

Keywords

Nonholonomic mobile robotsRobust controlIntegral terminal sliding mode controlStabilizationTrackingFormation controlGraph theoryHigh-gain observerLyapunov analysis
Type
Articles
Information
Robotica , Volume 37 , Issue 6 , June 2019 , pp. 1033 - 1056
Copyright
Copyright © Cambridge University Press 2019 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

Gao, F. and Shang, Y.,“Global state-feedback stabilization for a class of uncertain nonholonomic systems with partial inputs saturation,” WSEAS Trans. Circuits Syst. 14(1), 229–235 (2015).Google Scholar
Lee, J. H., Lin, C., Lim, H. and Lee, J. M., “Sliding mode control for trajectory tracking of mobile robot in the RFID sensor space,” Int. J. Control Autom. Syst. 7(3), 429–435 (2009).CrossRefGoogle Scholar
Lefeber, E., Jakabiuk, J. and Nejimenjer, H., “Observer based kinematic tracking controller for a unicycletype mobile robots,” IEEE Int. Conf. Rob. Autom. 64(5), 2084–2089 (2001).Google Scholar
Peng, Z., Weng, G. and Rahmani, A., “Leaderfollower formation control of nonholonomic mobile robots based on a bioinspired neurodynamic based approach,” Rob. Auton. Syst. 61(5), 988–996 (2013).CrossRefGoogle Scholar
Dong, L., Chen, Y. and Qu, X., “Formation control strategy for nonholonomic intelligent vehicles based on virtual structure and consensus approach,” Procedia Eng. 137(8), 415–424 (2016).CrossRefGoogle Scholar
Dongbin, S., Zhendong, S. and Yupeng, Q., “Second-Order Sliding Mode Control for Nonholonomic Mobile Robots Formation,” Proceedings of the 30th Chinese Control Conference, Yantai, China, (2011) pp. 4860–4864.Google Scholar
Zhang, C., Sun, T. and Pan, Y., “Neural network observer-based finite-time formation control of mobile robots,” Math. Prob. Eng. 2014, 267307 (2011).Google Scholar
Asif, M., Memon, A. Y. and Khan, M. J., “Output feedback control for trajectory tracking of wheeled mobile robot,” Intell. Autom. Soft Comput. 22(1), 75–87 (2015).CrossRefGoogle Scholar
Astolfi, A., Ortega, R. and Venkatraman, A., “A globally exponentially convergent immersion and invariance speed observer for mechanical systems with non-holonomic constraints,” IEEE Trans. Indus. Electron. 58(01), 182–189 (2016).Google Scholar
Bowska, J., “A velocity observer design for tracking task-based motions of unicycle type mobile robots,” Commun. Nonlinear Sci. Numer. Simul. 16, 2301–2307 (2011).Google Scholar
Cao, K.-C., “Formation Control of Multiple Nonholonomic Mobile Robots Based on Cascade Design,” Joint 48th IEEE Conference on Decision and Control and 28th Chinese Control Conference Shanghai, P.R. China (2009).Google Scholar
Yousuf, B. M. and Memon, A. Y., “Robust Trajectory Tracking Control Design for Nonholonomic Mobile Robot (NMR),” Proceedings of the 3rd Australia New Zeland Control COnference (ANZCC), Melbourne, Australia (2018).CrossRefGoogle Scholar