Design and Implementation of Adaptive Containment Controllers for Multiple Euler-Lagrange Robot Systems with Dynamic Surface Control and Type-2 Neuro-Fuzzy Network

Project: National Science and Technology CouncilNational Science and Technology Council Academic Grants

Project Details


This project aims to investigate the cooperative control of multi-robot systems with multiple leaders. The dynamic models of robots are described by Euler-Lagrange equations. The containment control of multiple robots will be achieved by using dynamic surface control technique, where the system uncertainties are modelled with type-2 neuro-fuzzy networks. According to the proposed distributed containment controllers, all follower robots will converge into the convex hull spanned by leaders. In addition, the subjects of collision avoidance and the loss of actuator effectiveness are considered. With a proper defined distance dependent function, the capability to avoid collisions can be integrated into the design procedure of containment controller. An adaptive estimation algorithm is also provided, such that the actuating signals can be compensated for preserving the system stability. An embedded system based mobile robot platform will be implemented to validate the proposed containment controllers. The self-developed robot platform includes the embedded kernel module, Zigbee communication interface, and versatile sensor modules. This project contains enough innovations and challenges. The associated outcomes include the design of distributed adaptive controller and the development of embedded experimental system that should be helpful in the progress of cooperative multi-robot systems.

Project IDs

Project ID:PB10401-1776
External Project ID:MOST103-2221-E182-060-MY2
Effective start/end date01/08/1531/07/16


  • Multi-robot system
  • Euler-Lagrange system
  • Containment control
  • Dynamic surface control
  • Type-2 neuro-fuzzy network


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