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Adaptive fuzzy formation control for a swarm of nonholonomic differentially driven vehicles

An H ∞-based robust control design

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Abstract

In this paper, an adaptive fuzzy robust H ∞ controller is proposed for formation control of a swarm of differential driven vehicles with nonholonomic dynamic models. Artificial potential functions are used to design the formation control input for kinematic model of the robots and matrix manipulations are used to transform the nonholonomic model of each differentially driven vehicle into equivalent holonomic one. The main advantage of the proposed controller is the robustness to input nonlinearity, external disturbances, model uncertainties, and measurement noises, in a formation control of a nonholonomic robotic swarm. Moreover, robust stability proof is given using Lyapunov functions. Finally, simulation results are demonstrated for a swarm formation problem of a group of six unicycles, illustrating the effective attenuation of approximation error and external disturbances, even in the case of robot failure.

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Authors and Affiliations

  1. Department of Electrical Engineering, Science and Research Branch, Islamic Azad University, Fars, Iran

    Bijan Ranjbarsahraei & Mehdi Roopaei

  2. Department of Electronics, Sepidan Branch, Islamic Azad University, Sepidan, Iran

    Siavash Khosravi

Authors
  1. Bijan Ranjbarsahraei
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  2. Mehdi Roopaei
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  3. Siavash Khosravi
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Correspondence to Mehdi Roopaei.

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Ranjbarsahraei, B., Roopaei, M. & Khosravi, S. Adaptive fuzzy formation control for a swarm of nonholonomic differentially driven vehicles. Nonlinear Dyn 67, 2747–2757 (2012). https://doi.org/10.1007/s11071-011-0186-0

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  • DOI: https://doi.org/10.1007/s11071-011-0186-0

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