篇名 | Adaptive Neuro-Fuzzy Formation Control for Leader-Follower Mobile Robots |
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卷期 | 15:3 |
作者 | Lin, Hung-Wei 、 Chan, Wei-Shou 、 Chang, Chia-Wen 、 Yang, Cheng-Yuan 、 Chang, Yeong-Hwa |
頁次 | 359-370 |
關鍵字 | Multi-robot systems 、 formation control 、 neural fuzzy control 、 Lyapunov stability 、 EI 、 SCI 、 SCIE 、 Scopus |
出刊日期 | 201309 |
This paper aims to investigate the formation control of multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered. Based on the graph-theoretic concepts and locally distributed information, an adaptive neural fuzzy formation controller is designed with the capability of on-line learning. The learning rules of controller parameters can be derived from the analyzing of Lyapunov stability. In addition to simulations, the proposed techniques are applied to an experimental multi-robot platform for performance validations. From simulation and experimental results, the proposed adaptive neural fuzzy protocol can provide better formation
responses compared to conventional consensus algorithms.