Formation control of distance and orientation based-model of an omnidirectional robot and a quadrotor UAV

González‐Sierra, Jaime; Dzul, A.; Martínez, Edgar A.

doi:10.1016/j.robot.2021.103921

Cited by 10 publications

(18 citation statements)

References 14 publications

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“…3. The third control objective is achieved via the presented smooth epimorphism function (6) and general kinematic output Equation (8). 4.…”

Section: Discussion On the Control Objectives Structure And Parametersmentioning

confidence: 99%

“…Among them, the formation control problem is associated with the design of stabilizing, regulating, and tracking controllers to make a team of vehicles or mobile robots track or reach desirable postures relative to one or more reference points. Three well-known formation control strategies for multiple WMRs are behavioral-based, 1,2 virtual structure 3,4 and leader-following 5,6 approaches. A sliding-mode formation control scheme has been proposed for cooperative autonomous mobile robots in Reference 7.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, many interesting theoretical results on the formation control of mobile robots have been reported by the researchers in the literature 12–21 . Based on a deep literature review by the author including, 1–33 the following shortcomings are evident in the previous works: According to a careful review of the literature including, 1–33 the majority of the literature is devoted to the formation control of differentially driven wheeled mobile robots which is a particular case of nonholonomic type ( m , s ) WMRs, that is, type (2, 0) robot. Since design of the previously proposed controllers is dependent on robot's kinematic model, they could not be applied to other types of mobile robots with different steerability, mobility, and kinematic models.…”

Section: Introductionmentioning

confidence: 99%

“…Since design of the previously proposed controllers is dependent on robot's kinematic model, they could not be applied to other types of mobile robots with different steerability, mobility, and kinematic models. The literature is evident that there are few works to address the formation control problem for different types of WMRs 1–21 to the best of author's knowledge. This is mainly due to the fact that there is not any general solution that is independent of the robot's type. The previous works including References 1–21 mostly present state feedback controllers which require measurement of the velocity signals for the real‐time implementations.…”

Section: Introductionmentioning

confidence: 99%

“…The literature is evident that there are few works to address the formation control problem for different types of WMRs 1–21 to the best of author's knowledge. This is mainly due to the fact that there is not any general solution that is independent of the robot's type. The previous works including References 1–21 mostly present state feedback controllers which require measurement of the velocity signals for the real‐time implementations. In practice, commercial robots may not be equipped with velocity sensors or accurate velocity signals may not be measurable easily due to noise contamination and communication delays.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

A novel saturated PID‐type observer‐based controller for wheeled mobile robots with a guaranteed performance considering path curvature

Shojaei

2023

Intl J Robust & Nonlinear

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This article proposes a novel saturated PID‐type formation controller for a class of nonholonomic wheeled mobile robots (WMRs) of type (m, s) with mobility m and steerability s. Since the path curvature causes a severe deviation of the followers from the leaders' trajectory in the corners, a new definition of output equations is suggested to construct the coordinates of a virtual reference point in the front of each follower based on the concept of the extended look‐ahead control that utilizes a corrective angle to compensate the trajectory curvature efficiently. A nonlinear transformation and the robot's kinematic and dynamic equations are heuristically combined to develop a novel second‐order Euler–Lagrange formulation of unconstrained errors from constrained errors. Then, a novel saturated PID‐type controller is proposed for WMRs to build a desirable formation with a prescribed performance. An innovative nonlinear observer is presented to estimate followers' velocities. An efficient mixture of a radial basis function neural network (RBFNN) and an adaptive mechanism is proposed to compensate for model uncertainties, external disturbances, and network approximation errors. Lyapunov's direct method verifies semi‐global uniform ultimate boundedness stability by estimating a gain‐dependent region of attraction. Numerical simulations finally show the efficiency of the proposed controller.

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“…3. The third control objective is achieved via the presented smooth epimorphism function (6) and general kinematic output Equation (8). 4.…”

Section: Discussion On the Control Objectives Structure And Parametersmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

A novel saturated PID‐type observer‐based controller for wheeled mobile robots with a guaranteed performance considering path curvature

Shojaei

2023

Intl J Robust & Nonlinear

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Formation tracking control for an air–ground system under position deviations and wind disturbances

Cui,

Liang,

Yang

et al. 2024

Journal of Field Robotics

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In this paper, a formation tracking control strategy based on a leader–follower structure is investigated under position deviations and wind disturbances for an air–ground system. A backstepping controller is designed to achieve the expected trajectory‐tracking performance for the leader which is a car‐like vehicle. A robust nonsingular integral terminal sliding mode formation controller based on leader–follower formation errors is presented to provide desired positions under the influence of position deviation for the follower which is a quadrotor. A backstepping‐based adaptive recursive sliding mode position controller is proposed for the follower to ensure tracking accuracy under wind disturbances. Comparison experiments with existing studies show superior performances and effectiveness of the proposed control method for the air–ground system.

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Introduction

Mehta,

Modi

2024

Studies in Systems, Decision and Control

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Formation control of distance and orientation based-model of an omnidirectional robot and a quadrotor UAV

Cited by 10 publications

References 14 publications

A novel saturated PID‐type observer‐based controller for wheeled mobile robots with a guaranteed performance considering path curvature

A novel saturated PID‐type observer‐based controller for wheeled mobile robots with a guaranteed performance considering path curvature

Formation tracking control for an air–ground system under position deviations and wind disturbances

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