Advertisement

Journal of Intelligent & Robotic Systems

, Volume 88, Issue 1, pp 181–200 | Cite as

Hybrid Consensus-based Control of Nonholonomic Mobile Robot Formation

  • Haci Mehmet GüzeyEmail author
  • T. Dierks
  • S. Jagannathan
  • L. Acar
Article

Abstract

This paper addresses the hybrid consensus-based formation keeping problem for nonholonomic mobile robots in the presence of a novel time-varying, composite, nonlinear velocity-tracking error system. First, continuous-time regulation and consensus-based formation controllers are developed for a group of wheeled mobile robots. These controllers are then used to create a hybrid automaton, which drives the robots to their goal positions while maintaining a specified formation.In order to avoid the hard switches between regulation and formation keeping controllers, a novel blended velocity tracking error approach is proposed in this work to create nonlinear, time-varying velocity error dynamics. Therefore, the hybrid controller consists of two discrete modes, each with continuous dynamics, and the novel blended velocity tracking error approach provides a smooth transition between each mode. The controller in the regulation mode drives the robot to a goal position while the formation keeping controller ensures that the robots achieve a specified geometric formation prior to reaching their goal-position. Time-varying Lyapunov functions are used to rigorously demonstrate that the formation errors converge to a small bounded region around the origin and the size of the bound can be adjusted by using the switching conditions. Convergence to goal position while in formation is also demonstrated in the same Lyapunov analysis illustrating that the robots are converging to their goal positions while operating in both regulation and formation keeping mode. Simulation results verify the theoretical conjectures.

Keywords

Nonholonomic mobile robots Consensus Formation control Hybrid automata Time-varying Lyapunov methods 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Nair, R.R., Behera, L., Kumar, V., Jamshidi, M.: Multisatellite formation control for remote sensing applications using artificial potential field and adaptive fuzzy sliding mode control. IEEE Syst. J. 9(2), 508–518 (2015)CrossRefGoogle Scholar
  2. 2.
    Wang, Y., Yan, W., Li, J.: Passivity-based formation control of autonomous underwater vehicles. IET Control Theory Appl. 6(4), 518–525 (2012)MathSciNetCrossRefGoogle Scholar
  3. 3.
    Dierks, T., Jagannathan, S.: Neural network control of mobile robot formations using RISE feedback. IEEE Trans. Syst. Man Cybern. B Cybern. 39, 332–347 (2009)CrossRefzbMATHGoogle Scholar
  4. 4.
    Ren, W., Atkins, E.: Distributed multi-vehicle coordinated control via local information exchange. Int. J. Robust Nonlinear Control 17(10-11), 1002–1033 (2007)MathSciNetCrossRefzbMATHGoogle Scholar
  5. 5.
    Olfati-Saber, R., Murray, R.M.: Consensus problems in networks of robot switching topology and time-delays. IEEE Trans. Autom. Control 49(9), 1520–1533 (2004)CrossRefzbMATHGoogle Scholar
  6. 6.
    Kecai, C., Bin, J., Dong, Y.: Distributed consensus of multiple nonholonomic mobile robots. IEEE/CAA Journal of Automatica Sinica 1(2), 162–170 (2014)CrossRefGoogle Scholar
  7. 7.
    Di Paola, D., Naso, D., Turchiano, B.: Consensus-based robust decentralized task assignment for heterogeneous robot networks. American Control Conference (ACC) 2011, 4711–4716 (2011)Google Scholar
  8. 8.
    Geng, X.: Consensus-reaching of Multiple Robots with Fewer Interactions. 2009 WRI World Congress on Computer Science and Information Engineering, pp. 249–253 (2009)Google Scholar
  9. 9.
    Mastellone, S., Stipanović, D., Graunke, C., Intlekofer, K., Spong, M.: Formation control and collision avoidance for multi-agent nonholonomic systems: theory and experiments. Int. J. Rob. Res. 27(1), 10–126 (2008)CrossRefGoogle Scholar
  10. 10.
    Breivik, M., Subbotin, M., Fossen, T.: Guided formation control for wheeled mobile robots. Proc. IEEE Int. Conf. Robot. Autom. pp.1–7 (2006)Google Scholar
  11. 11.
    Liang, Y., Lee, H.: Decentralized formation control and obstacle avoidance for multiple robots with nonholonomic constraints. Proc. IEEE Am. Control Conf., 559–5601 (2006)Google Scholar
  12. 12.
    Ge, S.S., Fua, C.H.: Queues and artificial potential trenches for multirobot formations. IEEE Trans. Robot. 21(4), 64–656 (2005)CrossRefGoogle Scholar
  13. 13.
    Dong, W.J., Guo, G.Y., Farrell, J.A.: Formation Control of Nonholonomic Mobile Robots, vol. 2006. American Control Conference, Minneapolis, MN (2006)Google Scholar
  14. 14.
    Maghenem, M., Loria, A., Panteley, E.: Lyapunov-based Formation-Tracking Control of Nonholonomic Systems under Persistency of Excitation. 10th IFAC Symposium on Nonlinear Control Systems (NOLCOS 2016), Monterey, CA, United States (2016)Google Scholar
  15. 15.
    Feng, S., Zhang, H.: Formation control for wheeled mobile robots based on consensus protocol. IEEE International Conference on Information and Automation (ICIA), pp. 696–700 (2011)Google Scholar
  16. 16.
    Branicky, M.S.: Multiple Lyapunov functions and other analysis tools for switched and hybrid systems. IEEE Trans. on Automatic Control 43(4), 475–482 (1998)MathSciNetCrossRefzbMATHGoogle Scholar
  17. 17.
    Guzey, H.M., Dierks, T., Jagannathan, S.: Hybrid consensus-based formation control of agents with second order dynamics. American Control Conference (ACC) 2015, 4386–4391 (2015)CrossRefGoogle Scholar
  18. 18.
    Miah, S., Chaoui, H., Sicard, P.: Linear time-varying control law for stabilization of hopping robot during flight phase. IEEE 23rd Int. Symp on Industrial Electronics (ISIE), pp. 1550–1554 (2014)Google Scholar
  19. 19.
    Lewis, F.L., Jagannathan, S., Yesildirek, A.: Neural Network Control of Robot Manipulators and Nonlinear Systems. Taylor & Francis, New York (1999)Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 2017

Authors and Affiliations

  1. 1.Department of Electrical & Computer EngineeringErzurum Technical UniversityErzurumTurkey
  2. 2.DRS Sustainment Systems, Inc.St. LouisUSA
  3. 3.Department of Electrical & Computer EngineeringMissouri University of Science and TechnologyRollaUSA

Personalised recommendations