| With the rapid development of the embedded technology, the Internetcommunication technology, and the automation technology, the mobile robots arewidely applied in various fields. The multiple mobile robots formation control has beenwidely investigated. However the environmental uncertainties, the external disturbances,and the actuator failures will affect the achievement of the formation target. To solvethe formation control problems under the unknown environment or the actuator faultycase becomes the key issue. This thesis provides some solutions to these problems.Firstly, the formation control problem of multiple mobile robots under unknownenvironment is considered. A multiple mobile robots formation and obstacle avoidancecontrol strategy, which combines the fuzzy logic rules with the behavior switchingstrategy, is proposed. The control algorithm was decentralized, namely the controlleronly requires each mobile robot’s self-information and its neighbors’ information.Secondly, the formation control problem of multiple mobile robots with actuatorfaults is discussed. A robust fault-tolerant formation control algorithm is presented. Theactuator faults are the typical faults existing in the multiple mobile robots. Both theadditive faults and the loss of actuator effectiveness are considered in the thesis. Wehave designed the robust fault-tolerant formation controllers for the multiple mobilerobots with the leader-follower or virtual structure. The stability of the formationcontrol system is analyzed by using the Lyapunov theory. The control algorithm isdecentralized and suitable for the general directed communication topology system.Finally, we built the multiple mobile robot experiment platform with localperception ability and introduce the hardware and software modules. The experimentsare carried out on the experiment platform to show the effectiveness of the fuzzy logicbased formation control method and the robust fault-tolerant formation controlalgorithms. |
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