Finite-time tracking control for multiple nonholonomic mobile robots with external disturbances and uncertainties

Ou, Meiying; Gu, Shengwei; Wang, Bingting; Lan, Qixun

doi:10.1109/chicc.2016.7554613

Cited by 6 publications

(7 citation statements)

References 16 publications

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“…In Zhang, Liu, & Luo (2014) and Wang, Li, & Fei (2009), the finite-time tracking problem is investigated for a nonholonomic wheeled mobile robot. A finite time state feedback controller was designed for the mobile robot with input disturbances in Ou, Sun, & Li (2012). Literature Ou, Du, & Li (2012) investigated the finite-time tracking control problem of multiple nonholonomic wheeled mobile robots in dynamic model.…”

Section: Introductionmentioning

confidence: 99%

Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements

Shi

Khoo

2015

International Journal of Control

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The problem of robust finite-time trajectory tracking of nonholonomic mobile robots with unmeasurable velocities is studied. The contributions of the paper are that: Firstly, in the case that the angular velocity of the mobile robot is unmeasurable, a composite controller including the observer-based partial state feedback control and the disturbance feed-forward compensation is designed, which guarantees that the tracking errors converge to zero in finite time. Secondly, if the linear velocity as well as the angular velocity of mobile robot is unmeasurable, with a stronger constraint, the finite-time trajectory tracking control of nonholonomic mobile robot is also addressed. Finally, the effectiveness of the proposed control laws is demonstrated by simulation.

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Section: Introductionmentioning

confidence: 99%

Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements

Shi

Khoo

2015

International Journal of Control

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“…Apart from this advantage, finite-time control system has other good point: faster convergence, better robustness [1,9,15,24,33,30]. For the tracking control problem of nonholonomic mobile robot systems, some finite-time control laws have been proposed [12,23,25,31]. The authors of [31] proposed finitetime tracking controller for the nonholonomic systems with extended chained form, where the relay switching technique and the terminal sliding mode control scheme with finite time convergence were used to design the controller.…”

Section: Introductionmentioning

confidence: 99%

“…However, all these above papers don't consider external disturbances in robot system models. The authors of [25] studied finite-time tracking control problem of a nonholonomic wheeled mobile robot in dynamic model with external disturbances, finite-time disturbance observers was introduced to estimate the external disturbances and finite-time tracking control laws were proposed for the mobile robot . However, the paper [25] only considered single mobile robot system model.…”

Section: Introductionmentioning

confidence: 99%

“…The authors of [25] studied finite-time tracking control problem of a nonholonomic wheeled mobile robot in dynamic model with external disturbances, finite-time disturbance observers was introduced to estimate the external disturbances and finite-time tracking control laws were proposed for the mobile robot . However, the paper [25] only considered single mobile robot system model. This paper will discuss finite-time tracking control problem of multiple nonholonomic mobile robots in dynamic model with external disturbances.…”

Section: Introductionmentioning

confidence: 99%

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Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Ou¹,

Gu²,

Wang³

et al. 2016

Kybernetika

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“…In [53], the control input of each follower is assumed to be subject to unknown nonlinear dead zone. [86,87]. Finite-time consensusbased formation control of multiple nonholonomic mobile robots is considered in [88], where a distributed finite-time observer is proposed for each follower to estimate the states of leaders in a finite time.…”

Section: Graph Theorymentioning

confidence: 99%

Adaptive cooperative control of multi-agent systems

Zou¹

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This thesis contains material from 4 papers submitted to and published in the following peer-reviewed journals in which I am listed as an author. Chapter 3 is submitted to IET Control Theory & Applications as Y. Zou, C. Wen, and M. Guan. "Distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with directed communication graph and sensor faults," The contributions of the co-authors are as follows: • I prepared the drafts of the manuscript, designed the control algorithm and performed the simulations. • Prof. Wen provided comments on the algorithm design and revised the manuscript drafts. • Mr. Guan assisted in simulations and revision of the manuscript. Chapter 4 is submitted to IEEE Transactions on Systems, Man and Cybernetics: Systems as Y. Zou, C. Wen, and C. Deng. "Distributed output feedback consensus tracking control of multiple nonholonomic mobile robots with only position information of leader," The contributions of the co-authors are as follows: • I prepared the drafts of the manuscript, designed the control algorithm and performed the simulations.

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Finite-time tracking control for multiple nonholonomic mobile robots with external disturbances and uncertainties

Cited by 6 publications

References 16 publications

Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements

Robust finite-time tracking control of nonholonomic mobile robots without velocity measurements

Finite-time tracking control of multiple nonholonomic mobile robots with external disturbances

Adaptive cooperative control of multi-agent systems

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