Distributed Cooperative Control Of Several Classes Of Nonholonomic Mobile Robots

Unmanned network cluster systems(mobile robots,spacecraft and unmanned aerial vehicles)cooperate to achieve multiple functions such as communication,reconnaissance,transportation,navigation,etc.,and have broad application prospects.Unmanned network cluster systems are based on the combat capability of a single platform,supported by the collaborative interaction capabilities between the platforms,and built on an open architecture and artificial intelligence technology.They have the advantages of invulnerability,low cost,and distributed functions,etc.,and are the key technological field of major military powers in the world.Static formation can be formed by unmanned cluster systems,which can accomplish tasks such as coverage and monitoring;If unmanned system cluster systems maintain a specific formation movement,it can carry out daily patrols,escort,material transportation,large-area spraying,rescue,etc.,and it can be applied to military,agricultural,urban management,rescue,logistics and other fields.Due to the extensive application background of unmanned network cluster systems,the research enthusiasm of scholars on unmanned system is aroused.At present,a lot of research achievements have been made in network cluster systems,but most of the current literature mainly focuses on the situation of a single robot,or the research of robot clusters uses absolute/global information,which violates the the design concept of distributed control.This article focuses on the rendezvous,tracking and formation of several types of nonholonomic constrained mobile robot cluster systems.The main contents include:A considers the global consensus problem of ring-networked nonholonomic systems with saturated input.Based on the Lyapunov method and appropriate related technologies,the stabilization of the nonholonomic systems is achieved towards consensus.Assuming that each agent has its own position information available in the global coordinates and can obtain the position information of its neighbors,global consensus is achieved asymptotically by using the designed distributed saturated controllers.Subject-predicate-complement,a wireless local area network is set up with a local computer as the controller,having data transmitted through the wireless network so that the movement of the robots can be controlled.Consistent simulation and experiment results are presented to illustrate the practical design and theoretical analysis.B addresses the formation control of nonholonomic mobile robots cluster under the general directed topology.The distributed estimator of each follower NMR,which uses its own information and the information of its neighboring NMRs,is designed to estimate the leader's states.By means of these estimates,a formation controller is proposed for the follower NMRs that are also required to track the leader NMR.Lyapunov function techniques are employed to analyze the distributed estimator as well as the formation controller.Simulation and experiment examples are presented to illustrate the theoretical results.C proposes a neuro-adaptive method for the unsolved problem of cooperative tracking rendezvous of nonholonomic mobile robots(NMRs)subject to uncertain and unmodelled dynamics.A hierarchical cooperative control framework is proposed,which consists of a novel distributed estimator along with local neuro-adaptive tracking controllers.Rigorous stability analysis as well as simulation experiments illustrate the proposed method.D investigates the formation tracking control problem for nonholonomic mobile robots.The distinguishing feature of this work is considering the leader dynamics to be non-ideal,i.e.subject to disturbances/unmodelled terms.A distributed joint disturbance-and-leader observer is designed to solve the problem,allowing to reconstruct the leader's signals in a distributed way.The estimate of the leader disturbance provided by the observer can be incorporated in the controller to counteract such disturbance and achieve the formation asymptotically.Perturbation theory and Lyapunov technique are employed to analyze stability of the overall distributed formation control algorithm.Simulations as well as real experiments are conducted to illustrate the theoretical results.E studies formation tracking control of bounded disturbed nonholonomic mobile robots.The disturbance dynamics of leaders and followers are bounded.Distributed joint estimators of disturbance and leader estimators are designed to solve this problem.The estimation of the leader's disturbance provided by the estimator,the estimation of the followers' disturbance and the estimation of the leader's information are combined into the controller to offset such disturbance and achieve the formation asymptotically.Perturbation theory and Lyapunov technique are used to analyze the convergence and stability of the distributed formation control algorithm.Finally,a simulation example is used to verify the validity of the theoretical derivation.