典型文献
Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints
文献摘要：
This paper studies the fully distributed formation control problem of multi-robot systems without global position measurements subject to unknown longitudinal slippage constraints. It 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 information. Additionally, 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 robots. To 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 time. The distributed adaptive controllers are further designed for each follower robot such that the desired formation can be achieved while overcoming the effect of unknown slippage. Finally, the effectiveness of the proposed observer and control laws are verified by simulation results.
文献关键词：
中图分类号：
作者姓名：
Hao Zhang;Jianwen Sun;Zhuping Wang
作者机构：
Department of Control Science and Engineering,Tongji University, Shanghai 201804, China
文献出处：
引用格式：
[1]Hao Zhang;Jianwen Sun;Zhuping Wang-.Distributed Control of Nonholonomic Robots Without Global Position Measurements Subject to Unknown Slippage Constraints)[J].自动化学报（英文版）,2022(02):354-364
A类：
Nonholonomic,Slippage,wheeled
B类：
Distributed,Control,Robots,Without,Global,Position,Measurements,Subject,Unknown,Constraints,This,paper,studies,fully,distributed,multi,systems,without,global,measurements,subject,unknown,longitudinal,slippage,constraints,It,difficult,robots,obtain,accurate,stable,information,many,cases,such,when,indoors,tunnels,other,environments,where,GPS,positioning,denied,thus,meaningful,overcome,dependence,Additionally,which,hard,avoid,due,existence,ice,sand,muddy,roads,can,not,only,affect,performance,also,limits,application,scene,mobile,To,solve,both,problems,finite,observer,does,require,proposed,that,each,follower,estimate,leader,states,within,adaptive,controllers,are,further,designed,desired,be,achieved,while,overcoming,Finally,effectiveness,laws,verified,by,simulation,results
AB值：
0.574773
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