Abstract
In this paper, the infinite horizon optimal tracking control problem is solved online and forward-in-time for leader-follower based formation control of nonholonomic mobile robots. using the backstepping design approach, the dynamical controller inputs for the robots are approximated from nonlinear optimal control techniques in order to track the control velocities designed to keep the formation. the proposed nonlinear optimal control technique, referred to as adaptive dynamic programming, uses neural networks (NN's) to solve the optimal formation control problem in discrete-time in the presence of unknown internal dynamics and a known control coefficient matrix. All NN's are tuned online using novel weight update laws, and the stability of the entire formation is demonstrated using Lyapunov methods. Simulation results are provided to demonstrate the effectiveness of the proposed approach. © 2011 IEEE.
Recommended Citation
T. Dierks et al., "Near Optimal Control of Mobile Robot Formations," IEEE SSCI 2011: Symposium Series on Computational Intelligence - ADPRL 2011: 2011 IEEE Symposium on Adaptive Dynamic Programming and Reinforcement Learning, pp. 234 - 241, article no. 5967369, Institute of Electrical and Electronics Engineers, Sep 2011.
The definitive version is available at https://doi.org/10.1109/ADPRL.2011.5967369
Department(s)
Electrical and Computer Engineering
Second Department
Computer Science
Keywords and Phrases
ADP; Formation Control; Multi-Agent System Control; Nonlinear Optimal Control; Optimal Control
International Standard Book Number (ISBN)
978-142449888-8
Document Type
Article - Conference proceedings
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2024 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
05 Sep 2011
