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Trajectory Tracking Design for a Swarm of Autonomous Mobile Robots: A Nonlinear Adaptive Optimal Approach

Author

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  • Yung-Hsiang Chen

    (Department of Mechanical Engineering, National Pingtung University of Science and Technology, Pingtung 91201, Taiwan)

  • Yung-Yue Chen

    (Department of Systems and Naval Mechatronics Engineering, National Cheng Kung University, Tainan 701401, Taiwan)

Abstract

This research presents a nonlinear adaptive optimal control approach to the trajectory tracking problem of a swarm of autonomous mobile robots. Mathematically, finding an analytical adaptive control solution that meets the H 2 performance index for the trajectory tracking problem when controlling a swarm of autonomous mobile robots is an almost impossible task, due to the great complexity and high dimensions of the dynamics. For deriving an analytical adaptive control law for this tracking problem, a particular formulation for the trajectory tracking error dynamics between a swarm of autonomous mobile robots and the desired trajectory is made via a filter link. Based on this prior analysis of the trajectory tracking error dynamics, a closed-form adaptive control law is analytically derived from a high-dimensional nonlinear partial differential equation, which is equivalent to solving the trajectory tracking problem of a swarm of autonomous mobile robots with respect to an H 2 performance index. This delivered adaptive nonlinear control solution offers the advantages of a simple control structure and good energy-saving performance. From the trajectory tracking verification, this proposed control approach possesses satisfactory trajectory tracking performance for a swarm of autonomous mobile robots, even under the effects of huge modeling uncertainties.

Suggested Citation

  • Yung-Hsiang Chen & Yung-Yue Chen, 2022. "Trajectory Tracking Design for a Swarm of Autonomous Mobile Robots: A Nonlinear Adaptive Optimal Approach," Mathematics, MDPI, vol. 10(20), pages 1-21, October.
    • Handle: RePEc:gam:jmathe:v:10:y:2022:i:20:p:3901-:d:948429
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    References listed on IDEAS

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    1. Qifei Du & Lin Sha & Wuxi Shi & Liankun Sun & Guoguang Wen, 2021. "Adaptive Fuzzy Path Tracking Control for Mobile Robots with Unknown Control Direction," Discrete Dynamics in Nature and Society, Hindawi, vol. 2021, pages 1-7, April.
    2. Gang Wang & Chenghui Zhou & Yu Yu & Xiaoping Liu, 2019. "Adaptive Sliding Mode Trajectory Tracking Control for WMR Considering Skidding and Slipping via Extended State Observer," Energies, MDPI, vol. 12(17), pages 1-16, August.
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    Cited by:

    1. Lixiong Lin & Zhiping Xu & Jiachun Zheng, 2023. "Predefined Time Active Disturbance Rejection for Nonholonomic Mobile Robots," Mathematics, MDPI, vol. 11(12), pages 1-21, June.

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