Acceleration-Level Pseudo-Dynamic Visual Servoing of Mobile Robots With Backstepping and Dynamic Surface Control

Zhang, Xuebo; Wang, Runhua; Fang, Yongchun; Li, Baoquan; Ma, Bin

doi:10.1109/tsmc.2017.2777897

Cited by 62 publications

(27 citation statements)

References 45 publications

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“…Proof. The event-triggered communication scheme (16) is listed as: (21) According to the inequalities…”

Section: Convergence Analysismentioning

confidence: 99%

“…Compared with the single robot, due to the wide detection range and simultaneous sampling, multi-robot systems have received much attention for the problem of signal source localization (see Figure 1) [15][16][17][18][19][20][21]. Usually, the integrated gradient estimation of the signal strength distribution is a common method to estimate the possible position of the signal source, which means that multiple robots simultaneously obtain the measurements at different locations and give the movement direction such that some unnecessary trajectories are neglected [18,22,23].…”

Section: Introductionmentioning

confidence: 99%

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Signal Source Localization of Multiple Robots Using an Event-Triggered Communication Scheme

Pan

Yin

et al. 2018

Applied Sciences

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This paper deals with the problem of signal source localization using a group of autonomous robots by designing and analyzing a decision-control approach with an event-triggered communication scheme. The proposed decision-control approach includes two levels: a decision level and a control level. In the decision level, a particle filter is used to estimate the possible positions of the signal source. The estimated position of the signal source gradually approaches the real position of signal source with the movement of robots. In the control level, a consensus controller is proposed to control multiple robots to seek a signal source based on the estimated signal source position. At the same time, an event-triggered communication scheme is designed such that the burden of communication can be lightened. Finally, simulation and experimental results show the effectiveness of the proposed decision-control approach with the event-triggered communication scheme for the problem of signal source localization.

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“…Proof. The event-triggered communication scheme (16) is listed as: (21) According to the inequalities…”

Section: Convergence Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Signal Source Localization of Multiple Robots Using an Event-Triggered Communication Scheme

Pan

Yin

et al. 2018

Applied Sciences

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“…Motivated by this, the (DSC) is developed by introducing a first-order filter into the backstepping design process. [20][21][22][23][24] Yoo 23 proposed a DSC-based adaptive neural containment control of multiple manipulators, and 24 studied the adaptive DSC for formation of multiple autonomous surface vehicles. Note that all the algorithms in References 20-24 take no account the influence of filtering errors on stability of the closed-loop system.…”

Section: Introductionmentioning

confidence: 99%

Adaptive fuzzy finite‐time consensus tracking for multiple Euler‐Lagrange systems with unknown control directions

LiuGuoqing

Zhaolin

2020

Adaptive Control & Signal

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In this paper, the problem of adaptive fuzzy finite-time consensus tracking control for multiple Euler-Lagrange systems (ELSs) with uncertain dynamics and unknown control directions (UCDs) is investigated. The computational complexity problem in conventional backstepping is avoided by using finite-time command filter (FTCF), and the error in the filtering process is eliminated through error compensation signals. The fuzzy logic system combined with the adaptive control technique is applied to approximate and estimate the unknown nonlinear dynamics of ELS. The Nussbaum function-based continuous and nonsmooth input control torque is established to eliminate the influence of UCDs, and the proposed control scheme can guarantee the consensus tracking errors converge to the desired neighborhood of the origin within a finite time. Numerical simulation is used to test the effectiveness of the given algorithm.

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“…Furthermore, the proposed framework may be extended to address rapid exponential controllers for manipulator systems, 26 path planning, 27,28 bipedal walking systems, 29,30 and mobile robot systems. 31 Before ending this introductory section, we highlight the main contributions of this article in the following facts. There are three important contributions to this article.…”

Section: Introductionmentioning

confidence: 99%

A unified framework of rapid exponential stability and optimal feedback control for nonlinear systems

2019

Advances in Mechanical Engineering

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A novel framework of rapid exponential stability and optimal feedback control is investigated and analyzed for a class of nonlinear systems through a variant of continuous Lyapunov functions and Hamilton-Jacobi-Bellman equation. Rapid exponential stability means that the trajectories of nonlinear systems converge to equilibrium states in accelerated time. The sufficient conditions of rapid exponential stability are developed using continuous Lyapunov functions for nonlinear systems. Furthermore, according to a variant of continuous Lyapunov functions, a rapid exponential stability is guaranteed which satisfies some canonical conditions and Hamilton-Jacobi-Bellman equation for controlled nonlinear systems. It is can be seen that the solution of Hamilton-Jacobi-Bellman equation is a continuous Lyapunov function, and, therefore, rapid exponential stability and optimality are guaranteed for nonlinear systems. Last, the main result of this article is investigated via a nonlinear model of a spacecraft with one axis of symmetry through simulations and is used to check rapid exponential stability. Moreover, for the disturbance problem of initial point, a rapid exponential stable controller can reject the large-scale disturbances for controlled nonlinear systems. In addition, the proposed optimal feedback controller is applied to the tracking trajectories of 2-degree-of-freedom manipulator, and the numerical results have illustrated high efficiency and robustness in real time. The simulation results demonstrate the use of the rapid exponential stability and optimal feedback approach for real-time nonlinear systems.

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Acceleration-Level Pseudo-Dynamic Visual Servoing of Mobile Robots With Backstepping and Dynamic Surface Control

Cited by 62 publications

References 45 publications

Signal Source Localization of Multiple Robots Using an Event-Triggered Communication Scheme

Signal Source Localization of Multiple Robots Using an Event-Triggered Communication Scheme

Adaptive fuzzy finite‐time consensus tracking for multiple Euler‐Lagrange systems with unknown control directions

A unified framework of rapid exponential stability and optimal feedback control for nonlinear systems

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