In this paper the control of formations of multiple nonholonomic mobile robots is attempted by integrating a kinematic controller with a neural network (NN) computed-torque controller. A combined kinematic/torque control law is developed for leader-follower based formation control using backstepping in order to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers. The NN is introduced to approximate the dynamics of the follower as well as its leader using online weight tuning. It is shown using Lyapunov theory that the errors for the entire formation are uniformly ultimately bounded, and numerical results are provided.
J. Sarangapani and T. A. Dierks, "Control of Nonholonomic Mobile Robot Formations Using Neural Networks," Proceedings of the IEEE 22nd International Symposium on Intelligent Control, 2007 (2007, Singapore), Institute of Electrical and Electronics Engineers (IEEE), Oct 2007.
The definitive version is available at http://dx.doi.org/10.1109/ISIC.2007.4450873
IEEE 22nd International Symposium on Intelligent Control, 2007 (2007, Singapore)
Electrical and Computer Engineering
Keywords and Phrases
Lyapunov Methods; Kinematic/Dynamic Controller; Mobile Robots; Multi-Robot Systems; Neural Network Torque Controller; Neurocontrollers; Online Weight Tuning; Robot Kinematics
Article - Conference proceedings
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