Observer-based multivariable fixed-time formation control of mobile robots

Journal of Systems Engineering and Electronics ›› 2020, Vol. 31 ›› Issue (2): 403-414.

• Control Theory and Application • Previous Articles Next Articles

Observer-based multivariable fixed-time formation control of mobile robots

Yandong LI^1,*(), Ling ZHU²(), Yuan GUO¹()

¹ College of Computer and Control Engineering, Qiqihar University, Qiqihar 161006, China
² School of Mechanical and Electronic Engineering, Qiqihar University, Qiqihar 161006, China

Received:2019-05-24 Online:2020-04-30 Published:2020-04-30
Contact: Yandong LI E-mail:liyandong1234@126.com;ruby2010@163.com;guoyuan171@126.com
About author:LI Yandong was born in 1978. He received his B.S. degree in automation from Qiqihar University, Qiqihar, China, in 2001, M.S. degree in control theory and control engineering from Harbin Engineering University in 2008, and Ph.D. degree in detection technology and automatic equipment from Harbin Engineering University in 2011. He was a visiting scholar in Northeastern University, Liaoning, Shenyang, China, in 2018 and 2019. He is currently an associate professor in Qiqihar University. His research interests include robot control, neural networks, and formation control. E-mail: liyandong1234@126.com|ZHU Ling was born in 1981. She received her B.S. degree in automation from Qiqihar University in 2004, M.S. degree in control theory and control engineering from Harbin Engineering University in 2009, and Ph.D. degree in pattern recognition and intelligent systems from Harbin Engineering University in 2012. She is currently a lecturer in Qiqihar University. Her research interests include robot control, virtual surgery, and intelligent control. E-mail: zhuling ruby2010@163.com|GUO Yuan was born in 1974. She received her B.S. degree in automation from Qiqihar University in 1997, and M.S. and Ph.D. degrees in electrical engineering from Yan Shan University, in 2004 and 2008, respectively. She was a visiting scholar in Johns Hopkings University, Baltimore, Maryland, U.S. in 2012 and 2013. She is currently a professor of computer science and technology in Qiqihar University. Her research interests include photo electric detection, optical image encryption, sensor technology, and image processing. E-mail: guoyuan171@126.com
Supported by:
the National Natural Science Foundation of China(61872204);the Natural Science Foundation of Heilongjiang Province of China(F2015025);This work was supported by the National Natural Science Foundation of China (61872204) and the Natural Science Foundation of Heilongjiang Province of China (F2015025)

Abstract

Abstract:

This paper proposes a multivariable fixed-time leaderfollower formation control method for a group of nonholonomic mobile robots, which has the ability to estimate multiple uncertainties. Firstly, based on the state space model of the leader-follower formation, a multivariable fixed-time formation kinematics controller is designed. Secondly, to overcome uncertainties existing in the nonholonomic mobile robot system, such as load change, friction, external disturbance, a multivariable fixed-time torque controller based on the fixed-time disturbance observer at the dynamic level is designed. The designed torque controller is cascaded with the formation controller and finally realizes accurate estimation of the uncertain part of the system, the follower tracking of reference velocity and the desired formation of the leader and the follower in a fixed-time. The fixed-time upper bound is completely determined by the controller parameters, which is independent of the initial state of the system. The multivariable fixed-time control theory and the Lyapunov method are adopted to ensure the system stability. Finally, the effectiveness of the proposed algorithm is verified by the experimental simulation.

Key words: multivariable fixed-time control, formation control, uncertainty, fixed time observer, nonholonomic mobile robot

Yandong LI, Ling ZHU, Yuan GUO. Observer-based multivariable fixed-time formation control of mobile robots[J]. Journal of Systems Engineering and Electronics, 2020, 31(2): 403-414.

Figures/Tables 16

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References 23

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Parameter	Value
R/m	0.153
r/m	0.03
d/m	0.25
m/kg	4, t < 6 s5, t ≥ 6 s
I/kg·m²	2.5, t < 6 s 3, t ≥ 6 s
$\overline {\bm\tau }_d$	$[0.1\sin(t - 8)~~~0.1\sin(t - 8)]^{\rm T}$
$\overline {\boldsymbol{F}}$	$[0.25{\rm{sign }}(v) + 0.1v<<0.15{\rm{sign }}(\omega ) + 0.3\omega ]^{\rm T}$

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Observer-based multivariable fixed-time formation control of mobile robots

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