Adaptive fuzzy finite‐time formation asymptotic tracking control for nonholonomic multirobot systems with inputs quantization

Abstract

SummaryThis paper investigates the finite‐time formation tracking control problem for nonholonomic multirobot systems with inputs quantization. The fuzzy logic systems (FLSs) and adaptive method are introduced to approximate unknown nonlinear functions and parameters. Multirobot needs to keep safe and effective communicating range, the barrier function and prescribed performance method are employed to ensure collision avoidance and connectivity maintenance. Then, in order to make each robot more precisely and quickly track referenced leader's trajectory and consider the finite channel bandwidth in practical applications, the travel range of robots can be maintained at more secure region and formation can operate normally within the given bandwidth. By combining the command filter and finite‐time theory, a novel decentralized finite‐time formation asymptotic tracking (FTFAT) control strategy is further proposed based on inputs quantization technology, it guarantees that all signals are bounded and the formation tracking errors asymptotically converge to zero in finite‐time. Finally, the practicability of FTFAT strategy is demonstrated absolutely for nonholonomic multirobot systems.

A Generalized Supertwisting Algorithm Based on Terminal Sliding Manifold Control of Perturbed Unicycle Mobile Robots

“…There are numerous control strategies which were previously designed in the literature for this class of systems, mainly including adaptive fuzzy finite-time with inputs quantization in [4], observer-based robust control in [5] and with infinite actuator faults and range constraints in [6], adaptive multiple-surface sliding variable with matched and unmatched in [7], and channel-level event-triggered communication scheme in [8].…”