Neuro-Adaptive Cooperative Tracking Rendezvous of Nonholonomic Mobile Robots

Journal article (2020)

Authors

Peifen Lu Southeast University
S. Baldi Southeast University, Team Bart De Schutter - Mechanical, Maritime and Materials Engineering
Guanrong Chen City University of Hong Kong
Wenwu Yu Southeast University
Research Group
Team Bart De Schutter (Mechanical, Maritime and Materials Engineering) (TU Delft)
Copyright: © 2020 Peifen Lu, S. Baldi, Guanrong Chen, Wenwu Yu
DOI: https://doi.org/10.1109/TCSII.2020.2969373
Cooperative rendezvous Distributed estimator Neuro-adaptive control Nonholonomic mobile robot
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Published Date

2020

Language

English

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Faculty

Mechanical, Maritime and Materials Engineering

Department

Delft Center for Systems and Control

Research Group

Team Bart De Schutter

Abstract

This brief proposes a neuro-adaptive method for the unsolved problem of cooperative tracking rendezvous of nonholonomic mobile robots (NMRs) subject to uncertain and unmodelled dynamics. A hierarchical cooperative control framework is proposed, which consists of a novel distributed estimator along with local neuro-adaptive tracking controllers. Rigorous stability analysis as well as simulation experiments illustrate the proposed method.

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