Adaptive RFWCMAC cooperative formation control for multiple ballbots incorporated with coupling dynamics

This paper presents an intelligent consensus-based cooperative formation control using recurrent fuzzy wavelet cerebellar-model-articulation-controller (RFWCMAC) for a team of uncertain multiple ballbots. The dynamic model of each ballbot is formulated as one multivariable second-order underactuated dynamic system model, and the multirobot system is modeled by graph theory. By online learning the system uncertainties using RFWCMAC, an intelligent consensus-based cooperative formation control approach is presented using the Lyapunov stability theory and sliding-mode control approach, in order to carry out formation control in the presence of uncertainties. Simulations are conducted to show the effectiveness and merits of the proposed method.