Adaptive control schemes for mobile robot formations with triangularised structures

Guo, Jian; Lin, Zhiyun; Cao, Ming; Yan, Gangfeng

doi:10.1049/iet-cta.2009.0513

Cited by 52 publications

(54 citation statements)

References 15 publications

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“…In [1], a simple gradient-based control for the leaders, modeled with simple integrator dynamics, is proposed in order to enforce them to maintain a constant distance from each other and track the same constant velocity. However, considering unicycle dynamics for the leaders, other control strategies could be applied, for instance the cooperative path following presented in [6].…”

Section: B Leaders' Motionmentioning

confidence: 99%

“…Control laws are derived for each of the follower vehicles that take directly into consideration their dynamic equations of motion. In the sequel, because the overall motion of the group of follower vehicles is effectively guided by that of the leading vehicles and the motion of the latter is not known in advance, the problem will simply be referred to as Adaptive Leader-Follower Formation Control (ALFC); see [1] for a lucid presentation of this circle of ideas in the context of autonomous mobile robots.…”

Section: Introductionmentioning

confidence: 99%

“…The work in [1] goes one step further and the adaptive formation control is addressed for a network of autonomous mobile robots in which only two leaders know the prescribed reference velocity while the others play the role of followers. Notice however that the models for the follower vehicles are restricted to single integrators, a simplification that is not warranted in the case of autonomous marine robots that exhibit complex dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…It is against this background of ideas that in this paper we extend the methodology exposed in [1] for the ALFC problem to autonomous underactuated surface robots with highly nonlinear dynamics. We do this in two steps: we first derive a leader-follower control law by adopting a unicycle kinematic model for the follower vehicles based on a virtual controller and a tracking control design; after, the control law is modified to take into account the complex dynamics of a marine robot.…”

Section: Introductionmentioning

confidence: 99%

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Adaptive leader-follower formation control of autonomous marine vehicles

Briñón-Arranz

Pascoal

Aguiar

2014

53rd IEEE Conference on Decision and Control

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This paper addresses the problem of adaptive leader-follower formation control (ALFC) of autonomous marine vehicles. The rationale for this study can be found in a number of challenging geotechnical surveying missions aimed at mapping geological structures under the seabed. Mission specifications require that a group of surface vehicles equipped with acoustic receivers (hydrophones) maneuver in formation and acquire acoustic data emitted by one or more vehicles that carry acoustic emitters. To this effect, we adopt a basic setup for ALFC previously proposed for mobile robots modeled as single integrators and extend it to include explicitly the full dynamic equations of a representative type of marine vehicles. The paper offers a formal proof of convergence of the resulting formation control system. Results of simulations illustrate the performance that can be obtained with the control law proposed.

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Section: B Leaders' Motionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Adaptive leader-follower formation control of autonomous marine vehicles

Briñón-Arranz

Pascoal

Aguiar

2014

53rd IEEE Conference on Decision and Control

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“…However, it is more practical but more challenging when the interaction graph is directed and time-varying (Cao, Anderson, Morse, & Yu, 2008;Guo, Lin, Cao, & Yan, 2010). As a first step towards the general formation merging control problem, we assume in this paper that the target formation of followers lies in the threedimensional convex hull spanned by the leaders, which is important for convergence analysis.…”

Section: Introductionmentioning

confidence: 99%

Three-dimensional formation merging control under directed and switching topologies

Han

Lin

2015

Automatica

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Adaptive control and signal processing literature survey (No. 21)

2010

Adaptive Control & Signal

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In order to keep readers up-to-date, the journal will contain a list of recently published journal articles relevant to the fields of adaptive control and signal processing six times a year. This list is compiled from a wide range of journals. Please note that even though the list has been broadly categorized these classifications are by no means strict, and are there to assist the reader. Please also note that inclusion in the list is not an endorsement of a paper's quality. If you have any suggestions or comments, please e-mail Erfu Yang at erfu.yang@eee.strath.ac.uk. 1. ADAPTIVE SYSTEMS Adetola V, Guay M. Performance improvement in adaptive control of linearly parameterized nonlinear systems. IEEE Transactions on Automatic Control 2010; 55(9):2182-2186. Bartoszewicz A, Nowacka-Leverton A. ITAE optimal sliding modes for third-order systems with input signal and state constraints. IEEE Transactions on Automatic Control 2010; 55(8):1928-1932. Bresch-Pietri D, Krstic M. Delay-adaptive predictor feedback for systems with unknown long actuator delay. IEEE Transactions on Automatic Control 2010; 55(9):2106-2112. Chen W, Jiao L, Li R, Li J. Adaptive backstepping fuzzy control for nonlinearly parameterized systems with periodic disturbances. IEEE Transactions on Fuzzy Systems 2010; 18(4):674-685. Cheng C-C, Chien S-H, Shih F-C. Design of robust adaptive variable structure tracking controllers with application to rigid robot manipulators. Immersion and invariance adaptive control of nonlinearly parameterized nonlinear systems. IEEE Transactions on Automatic Control 2010; 55(9):2209-2214. Miller D, Mansouri N. Model reference adaptive control using simultaneous probing, estimation, and control. IEEE Transactions on Automatic Control 2010; 55(9):2014-2029. Mizumoto I, Ohdaira S, Iwai Z. Output feedback strict passivity of discrete-time nonlinear systems and adaptive control system design with a PFC. Automatica 2010; 46(9):1503-1509. Moreno-Valenzuela J, Santibáñez V, Orozco-Manrııquez E, González-Hernández L. Theory and experiments of global adaptive output feedback tracking control of manipulators. IET Control Theory and Applications 2010; 4(9):1639-1654. Plestan F, Shtessel Y, Brégeault V, Poznyak A. New methodologies for adaptive sliding mode control. International Journal of Control 2010; 83(9):1907-1919.Reinhartz-Berger I, Soffer P, Sturm A. Extending the adaptability of reference models.

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Adaptive control schemes for mobile robot formations with triangularised structures

Cited by 52 publications

References 15 publications

Adaptive leader-follower formation control of autonomous marine vehicles

Adaptive leader-follower formation control of autonomous marine vehicles

Three-dimensional formation merging control under directed and switching topologies

Adaptive control and signal processing literature survey (No. 21)

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