Neuro-Adaptive Cooperative Tracking Rendezvous of Nonholonomic Mobile Robots

Journal article (2020)

Authors

Peifen Lu Southeast University

S. Baldi Southeast University,

Guanrong Chen City University of Hong Kong

Wenwu Yu Southeast University

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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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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