2014
DOI: 10.1155/2014/267307
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Neural Network Observer-Based Finite-Time Formation Control of Mobile Robots

Abstract: This paper addresses the leader-following formation problem of nonholonomic mobile robots. In the formation, only the pose (i.e., the position and direction angle) of the leader robot can be obtained by the follower. First, the leader-following formation is transformed into special trajectory tracking. And then, a neural network (NN) finite-time observer of the follower robot is designed to estimate the dynamics of the leader robot. Finally, finite-time formation control laws are developed for the follower rob… Show more

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Cited by 15 publications
(10 citation statements)
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References 31 publications
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“…In this regard, another contribution from Zhang et al, in ref. [7], has given the idea of formation control of NMR. First, the formation trajectory converted into a special tracking problem, and then, a neural network-based observer is applied to estimate the states of the leader vehicle.…”
Section: Introductionmentioning
confidence: 99%
“…In this regard, another contribution from Zhang et al, in ref. [7], has given the idea of formation control of NMR. First, the formation trajectory converted into a special tracking problem, and then, a neural network-based observer is applied to estimate the states of the leader vehicle.…”
Section: Introductionmentioning
confidence: 99%
“…En García et al (2017), Liu et al (2017), Pan et al (2016), Sa et al (2017), y Sun et al (2017) se diseñan controles aplicados robots manipuladores. En Hernández et al (2017), Marín et al (2014), Marín et al (2013), Ortigoza et al (2016), Serrano et al (2018), y Zhang et al (2014) se estudia el seguimiento de la trayectoria en los robots móviles. En Hernández et al (2016), Olivares et al (2014), Páramo et al (2017), Peng et al (2017), y Rubio (2018) se enfocan en los controles aplicados a péndulos.…”
Section: Introductionunclassified
“…Other control approaches such as adaptive control based on neural network for WMRs are proposed in recent years. 3,22,23 However, energy saving is not considered in those control strategies.…”
Section: Introductionmentioning
confidence: 99%