反推
控制理论(社会学)
非完整系统
模糊逻辑
执行机构
计算机科学
容错
弹道
有界函数
航程(航空)
模糊控制系统
控制重构
非线性系统
自适应控制
机器人
控制(管理)
移动机器人
数学
工程类
分布式计算
人工智能
数学分析
物理
航空航天工程
嵌入式系统
量子力学
天文
作者
Yongming Li,Shen Dong,Kewen Li,Shaocheng Tong
出处
期刊:IEEE transactions on intelligent vehicles
[Institute of Electrical and Electronics Engineers]
日期:2023-06-01
卷期号:8 (6): 3668-3679
被引量:13
标识
DOI:10.1109/tiv.2023.3264800
摘要
This article studies the fault tolerant tracking problem of time-varying formation for nonholonomic multirobot systems. Uncertain nonlinear dynamics are approximated by employing fuzzy logic systems (FLSs), and based on the adaptive backstepping recursive procedure and dynamic surface technology, a fuzzy adaptive formation tracking control scheme is developed. It is notable for formation to achieve collision avoidance and connectivity maintenance, so the prescribed performance methodology is introduced to solve the constrained range problem of distance and angle. Meanwhile, in order to compensate the effect from the infinite number of uncertain actuator failures, the robots can maintain interacting with their leader at the moment of actuator faults, and also uninterruptedly track the time-varying referenced trajectory from the leader, a novel decentralized adaptive fault tolerant control (AFTC) strategy is further proposed for time-varying formation and guarantees all signals are semi-global uniformly ultimately bounded (SGUUB). Finally, the effectiveness of AFTC strategy is illustrated perfectly for nonholonomic multirobot systems.
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