Title :
Adaptive dynamic surface control for fault-tolerant multi-robot systems
Author :
Yeong-Hwa Chang ; Wei-Shou Chan ; Cheng-Yuan Yang ; Chin-Wang Tao ; Shun-Feng Su
Author_Institution :
Dept. of Electr. Eng., Chang Gung Univ., Taoyuan, Taiwan
Abstract :
This paper presents a new robust adaptive control method for multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered. Particularly, the situations involving partial loss of actuator effectiveness are addressed. Distributed controllers are derived based on dynamic surface control techniques over networked multiple robots. In addition, adaptive mechanisms are applied to estimate the bounds of effectiveness factor and uncertainty bounds. The robust stability of the multi-robot systems are preserved by using the Lyapunov theorem. The proposed controller can make the robots reach a desired formation following a designate trajectory. Simulation results indicate that the proposed control scheme has superior responses compared to conventional dynamic surface control.
Keywords :
Lyapunov methods; actuators; adaptive control; distributed control; fault tolerance; mobile robots; multi-robot systems; robust control; trajectory control; Lyapunov theorem; actuator effectiveness; adaptive dynamic surface control; designate trajectory; differentially driven wheeled mobile robot; distributed controllers; effectiveness factor; fault-tolerant multirobot systems; kinematic model; networked multiple robots; robust adaptive control method; robust stability; uncertainty bounds; Actuators; Kinematics; Mobile robots; Multi-robot systems; Stability analysis; Trajectory;
Conference_Titel :
System Science and Engineering (ICSSE), 2013 International Conference on
Conference_Location :
Budapest
Print_ISBN :
978-1-4799-0007-7
DOI :
10.1109/ICSSE.2013.6614696