Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 359-370 |
| Number of pages | 12 |
| Journal | International Journal of Fuzzy Systems |
| Volume | 15 |
| Issue number | 3 |
| State | Published - 09 2013 |
Keywords
- Formation control
- Lyapunov stability
- Multi-robot systems
- Neural fuzzy control