Leader-following Approach Based Adaptive Formation Control for Mobile Robots with Unknown Parameters

Adaptive Neuro-Fuzzy Formation Control for Leader-Follower Mobile Robots

This paper aims to investigate the formation control of multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered. Based on the graph-theoretic concepts and locally distributed information, an adaptive neural fuzzy formation controller is designed with the capability of on-line learning. The learning rules of controller parameters can be derive...

Adaptive Stabilization of Nonholonomic Mobile Robots with Unknown Kinematic Parameters

This paper investigates the problem of adaptive stabilization of nonholonomic mobile robots with nonholonomic constraints under the condition that the kinematic parameters are unknown and no known constants can (lower and upper) bound them. By defining a new unknown parameter which need dynamic updating, and also by using input-state-scaling transformation and backstepping technique, an adaptiv...

Leader-follower Formation Control of Mobile Robots with Sliding Mode

This paper considers the formation control of nonholonomic mobile robots. The formation problem is converted to the error model based on the leader-follower structure. A sliding mode controller, which is proved to be globally finite-time stable by Lyapunov stability theory, is presented in this study. In addition, a continuous reaching law is designed to reduce the chattering which caused by th...

An Approach to Socially Compliant Leader Following for Mobile Robots

Mobile robots are envisioned to provide more and more services in a shared environment with humans. A wide range of such tasks demand that the robot follows a human leader, including robotic coworkers in factories, autonomous shopping carts or robotic wheelchairs that autonomously navigate next to an accompanying pedestrian. Many authors proposed follow-the-leader approaches for mobile robots, ...

Leader Following Formation Control for Omnidirectional Mobile Robots - The Target Chasing Problem