International Journal of Fuzzy Systems

, Volume 19, Issue 5, pp 1375–1391 | Cite as

Distributed Consensus Formation Control with Collision and Obstacle Avoidance for Uncertain Networked Omnidirectional Multi-robot Systems Using Fuzzy Wavelet Neural Networks

  • Ching-Chih Tsai
  • Hsiao-Lang Wu
  • Feng-Chun Tai
  • Yen-Shuo Chen


This paper presents a distributed consensus formation control with collision and obstacle avoidance using fuzzy wavelet neural networks (FWNNs) for a group of networked mobile Mecanum-wheeled omnidirectional robots (MWORs) with uncertainties. The dynamic behavior of each uncertain MWOR is modeled by a reduced three-input–three-output second-order state equation with uncertainties, and the multi-MWOR system is modeled by graph theory. Using the Lyapunov stability theory and online learning the system uncertainties via FWNNs, an adaptive and distributed consensus backstepping control approach is presented to carry out formation control in the presence of uncertainties. Collision and obstacle-avoidance methods are provided to avoid any collisions among MWORs and their working environments. Five simulations are conducted to show the effectiveness and merit of the proposed method .


Consensus control Formation control Distributed Fuzzy wavelet neural networks (FWNN) Mecanum-wheeled omnidirectional robots (MWORs) 



The authors gratefully acknowledge financial support from the Ministry of Science and Technology (MOST), the Republic of China, under contract MOST 103-2221-E-005-095-.1


  1. 1.
    Murray, R.: Recent research in cooperative control of multivehicle systems. J. Dyn. Syst. Meas. Control 129(5), 571–583 (2007)CrossRefGoogle Scholar
  2. 2.
    Parker, L.E.: Distributed intelligence: overview of the field and its application in multi-robot systems. J. Phys. Agents 2(1), 1–14 (2008)MathSciNetGoogle Scholar
  3. 3.
    Kuriki, Y., Namerikawa, T.: Formation control of UAVs with a fourth-order flight dynamics. In: IEEE 52nd Annual Conference on Decision and Control, Florence, pp. 6706–6711, 10–13 Dec 2013Google Scholar
  4. 4.
    Kuriki, Y., Namerikawa, T.: Consensus-based cooperative formation control with collision avoidance for a multi-UAV system. In: 2014 American Control Conference. (ACC2014), Portland, Oregon, pp. 2077–2082, 4–6 June 2014Google Scholar
  5. 5.
    Cao, Y., Ren, W.: Optimal linear-consensus algorithms: an LQR perspective. In: IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol. 40, no. 3, pp. 819–830, June 2010Google Scholar
  6. 6.
    Meng, Z., Ren, W., Cao, Y., You, Z.: Leaderless and leader-following consensus with communication and input delays under a directed network topology. In: IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol. 41, no. 1, pp. 75–88, Feb 2011Google Scholar
  7. 7.
    Chang, Y.H., Chang, C.W., Chen, C.L., Tao, C.W.: Fuzzy sliding-mode formation control for multirobot System: design and implementation. In: IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics, Vol. 42, No. 2, pp. 444–457, Apr 2012Google Scholar
  8. 8.
    Ren, W., Beard, R.W., Atkins, E.M.: Information consensus in multivehicle cooperative control. IEEE Control Syst. Mag. 27(2), 71–82 (2007)CrossRefGoogle Scholar
  9. 9.
    Ren, C., Philip Chen, C.L.: Decentralized control for second-order uncertain nonlinear multi-agent systems consensus problem based on fuzzy adaptive high-gain observer. In: 2013 IEEE International Conference on Systems, Man, and Cybernetics, Manchester, pp. 4935–4940, 13–16 Oct 2013Google Scholar
  10. 10.
    Muir, P.F., Neuman, C.P.: Kinematic modeling for feedback control of an omnidirectional wheeled mobile robot. In: 1987 IEEE International Conference on Robotics and Automation, Vol. 4, pp. 1772–1778, Mar 1987Google Scholar
  11. 11.
    Viboonchaicheep, P., Shimada, A., Kosaka, Y.: Position rectification control for Mecanum wheeled omnidirectional vehicles. In: The 29th Annual Conference of the IEEE Industrial Electronics Society, IECON ‘03, Vol. 1, pp. 854–859, 2–6 Nov 2003Google Scholar
  12. 12.
    Tsai, C.C., Wu, H.L., Lee, Y.R.: Intelligent Adaptive Motion Controller Design for Mecanum Wheeled Omnidirectional Robots with Parameter Variations’. Int. J. Nonlinear Sci. Nonlinear Simul. 11(supplement), 91–95 (2010)Google Scholar
  13. 13.
    Tsai, C.C., Tai, F.C., Lee, Y.R.: Motion controller design and embedded realization for Mecanum wheeled omnidirectional robots. In: Proceedings of 2011 World Congress on Intelligent Control and Automation, Taipei, pp. 546–551, 21–25 June 2011Google Scholar
  14. 14.
    Ho, D.W.C., Zhang, P.A., Xu, J.: Fuzzy wavelet networks for function learning. IEEE Trans. Fuzzy Syst. 9(1), 200–211 (2001)CrossRefGoogle Scholar
  15. 15.
    Lin, C.K.: Nonsingular terminal sliding mode control of robot manipulators using fuzzy wavelet networks. IEEE Trans. Fuzzy Syst. 14(6), 849–859 (2006)CrossRefGoogle Scholar
  16. 16.
    Khalil, H.K.: Nonlinear Systems, 2nd edn. Prentice Hall, Englewood Cliffs (1996)Google Scholar
  17. 17.
    Tsai, C.C., Wu, H.L., Chuang, K.H.: Backstepping aggregated sliding-mode motion control for automatic 3D overhead cranes. In: IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Kaohsiung, pp. 849–854, 11–14 July 2012Google Scholar
  18. 18.
    Philip Chen, C.L., Ren, C.E., Du, T.: Fuzzy observed-based adaptive consensus tracking control for second-order multi-agent systems with heterogeneous nonlinear dynamics. IEEE Trans. Fuzzy Syst. (2015). doi: 10.1109/TFUZZ.2015.2486817 Google Scholar
  19. 19.
    Tsai, C.C., Wu, H.L.: Nonsingular terminal sliding control using fuzzy wavelet networks for Mecanum wheeled omni-directional vehicles. In: 2010 IEEE International Conference on Fuzzy System, Barcelona, pp. 1–6, 18–23 July 2010Google Scholar
  20. 20.
    Lewis, F.L., Hengster-Movric, K., Das, A., Zhang, H.: Cooperative Control of Multi-Agent Systems. Springer, Berlin (2014)CrossRefMATHGoogle Scholar
  21. 21.
    Tsai, C.C., Chan, C.C., Tai, F.C.: Cooperative localization using fuzzy decentralized extended information filtering for homogenous omnidirectional mobile multirobot system. In: 2015 International Conference on System Science and Engineering, Morioka, pp. 343–357, 6–8 July 2015Google Scholar
  22. 22.
    Tsai, C.C., Chen, Y.S., Wu, H.L.: Cooperative formation control with collision and obstacle avoidance for uncertain omnidirectional multirobot system using fuzzy wavelet neural networks. In: 2015 International Conference on Fuzzy Theory and Its Applications, National Ilan University, Ilan, 18–20 Nov 2015Google Scholar

Copyright information

© Taiwan Fuzzy Systems Association and Springer-Verlag Berlin Heidelberg 2016

Authors and Affiliations

  • Ching-Chih Tsai
    • 1
  • Hsiao-Lang Wu
    • 1
  • Feng-Chun Tai
    • 1
  • Yen-Shuo Chen
    • 1
  1. 1.Department of Electrical EngineeringNational Chung Hsing UniversityTaichungTaiwan

Personalised recommendations