Distributed adaptive formation tracking using quantized feedback communication for networked mobile robots with unknown wheel slippage

초록

In this study, we consider a quantized-feedback-communication-based control design problem for the distributed adaptive formation tracking of multiple nonholonomic mobile robots with unknown slippage constraints under capacity-limited network control environments. Uniform-hysteretic quantizers are employed to quantize all the inputs and states of robots and the quantized position information of each robot is only transmitted to neighboring robots through directed networks. Compared with existing literature related to the robot formation, the primary contribution of this paper lies in establishing a novel local adaptive control design methodology to deal with the discontinuity problem caused by using the quantized states of each follower and the quantized position communication of neighboring robots. In the proposed strategy, the communication of the orientations and velocities of neighboring robots is not required for the local control design of follower robots. Moreover, quantized-states-based adaptive compensation schemes are constructed for the effects of signal quantization and wheel slippage. Based on the analysis of quantization errors, the practical stability strategy of the overall closed-loop formation system is derived with the convergence of local tracking errors. Simulation results clarify the proposed formation strategy. © 2022 Elsevier Ltd

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