Formation Control of Leader–Follower Mobile Robots’ Systems Using Model Predictive Control Based on Neural-Dynamic Optimization

Xiao, Hanzhen; Li, Zhijun; Chen, C. L. Philip

doi:10.1109/tie.2016.2542788

Cited by 139 publications

(51 citation statements)

References 43 publications

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“…The existence of unexpected spatial constraints has been taken into consideration by adapting the scaling factor online in order to pass the region without collisions. In contrast with [34], which also proposed a switching strategy including a scheme for regular leader-follower formation and a scheme for obstacle avoidance, this paper considers the communication constraints and constructs the information flow that can ensure the success of formation tracking and promote the communication efficiency.…”

Section: Discussionmentioning

confidence: 99%

Event-Triggered Coordination for Formation Tracking Control in Constrained Space With Limited Communication

Liu

Goh

et al. 2019

IEEE Trans. Cybern.

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In this paper, the formation tracking control is studied for a multiagent system (MAS) with communication limitations. The objective is to control a group of agents to track a desired trajectory while maintaining a given formation in nonomniscient constrained space. The role switching triggered by the detection of unexpected spatial constraints facilitates efficiency of event-triggered control in communication bandwidth, energy consumption, and processor usage. A coordination mechanism is proposed based on a novel role ``coordinator'' to indirectly spread environmental information among the whole communication network and form a feedback link from followers to the leader to guarantee the formation keeping. A formation scaling factor is introduced to scale up or scale down the given formation size in the case that the region is impassable for MAS with the original formation size. Controllers for the leader and followers are designed and the adaptation law is developed for the formation scaling factor. The conditions for asymptotic stability of MAS are discussed based on the Lyapunov theory. Simulation results are presented to illustrate the performance of proposed approaches.

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Section: Discussionmentioning

confidence: 99%

Event-Triggered Coordination for Formation Tracking Control in Constrained Space With Limited Communication

Liu

Goh

et al. 2019

IEEE Trans. Cybern.

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“…Recently, formation control of multirobot systems, aiming at driving a group of robots to realize and preserve a desired geometric structure, has been well explored in both robotics and control communities [4]. Up till now, several approaches have been developed to tackle the problem of multiagent formation control in the literature, such as the behavior-based approach [123], the virtual structure approach [124], [125], the leader-following approach [126], [127], and the consensus approach [4]- [6]. One of the major challenges for multirobot formation lies in how inter-robot communication should be performed such that information among the robots can be shared and exchanged efficiently in terms of time and energy.…”

Section: B Distributed Event-triggered Formation Control Of Multirobmentioning

confidence: 99%

An Overview of Recent Advances in Event-Triggered Consensus of Multiagent Systems

Ding

Han

et al. 2018

IEEE Trans. Cybern.

862

247

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Event-triggered consensus of multiagent systems (MASs) has attracted tremendous attention from both theoretical and practical perspectives due to the fact that it enables all agents eventually to reach an agreement upon a common quantity of interest while significantly alleviating utilization of communication and computation resources. This paper aims to provide an overview of recent advances in event-triggered consensus of MASs. First, a basic framework of multiagent event-triggered operational mechanisms is established. Second, representative results and methodologies reported in the literature are reviewed and some in-depth analysis is made on several event-triggered schemes, including event-based sampling schemes, model-based event-triggered schemes, sampled-data-based event-triggered schemes, and self-triggered sampling schemes. Third, two examples are outlined to show applicability of event-triggered consensus in power sharing of microgrids and formation control of multirobot systems, respectively. Finally, some challenging issues on event-triggered consensus are proposed for future research.

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“…On the other hand, the study of the global convergence of distance-based formation control has been studied in the context of formation graphs [10]. Such is the case of [11] using distances and PI controllers, time-varying formation in [12], the addition of area constraints in [13,14] for triangle formations, or the use of Model Predictive Control based on neural-dynamic optimization in [15], among others. In the context of formation graphs, the extension of the leader-follower formations is falling in the case of directed graphs with a unique leader node, as presented in [16].…”

Section: Introductionmentioning

confidence: 99%

Extension of Leader-Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

Paniagua-Contro

Hernández‐Martínez

González-Medina

et al. 2019

Mathematical Problems in Engineering

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This paper presents the extension of leader-follower behaviours, for the case of a combined set of kinematic models of omnidirectional and differential-drive wheeled mobile robots. The control strategies are based on the decentralized measurements of distance and heading angles. Combining the kinematic models, the control strategies produce the standard and new mechanical behaviours related to rigid body or n-trailer approaches. The analysis is given in pairs of robots and extended to the case of multiple robots with a directed tree-shaped communication topology. Combining these behaviours, it is possible to make platoons of robots, as obtained from cluster space or virtual structure approaches, but now defined by local measurements and communication of robots. Numerical simulations and real-time experiments show the performance of the approach and the possibilities to be applied in multirobot tasks.

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Formation Control of Leader–Follower Mobile Robots’ Systems Using Model Predictive Control Based on Neural-Dynamic Optimization

Cited by 139 publications

References 43 publications

Event-Triggered Coordination for Formation Tracking Control in Constrained Space With Limited Communication

Event-Triggered Coordination for Formation Tracking Control in Constrained Space With Limited Communication

An Overview of Recent Advances in Event-Triggered Consensus of Multiagent Systems

Extension of Leader-Follower Behaviours for Wheeled Mobile Robots in Multirobot Coordination

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