Neural network observer-based finite-time formation control of mobile robots
type: Item
instance of: scholarly article
title: Neural network observer-based finite-time formation control of mobile robots
zbMATH Open document ID: 1407.93053
DOI: 10.1155/2014/267307
author: Tairen Sun
author: Yongping Pan
author: Caihong Zhang
published in: Mathematical Problems in Engineering
publication date: 2019-02-08T00:00:00Z
review text: Summary: This paper addresses the leader-following formation problem of nonholonomic mobile robots. In the formation, only the pose (i.e., the position and direction angle) of the leader robot can be obtained by the follower. First, the leader-following formation is transformed into special trajectory tracking. And then, a neural network (NN) finite-time observer of the follower robot is designed to estimate the dynamics of the leader robot. Finally, finite-time formation control laws are developed for the follower robot to track the leader robot in the desired separation and bearing in finite time. The effectiveness of the proposed NN finite-time observer and the formation control laws are illustrated by both qualitative analysis and simulation results.
Mathematics Subject Classification ID: 93A14
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93B35
zbMATH DE Number: 7016031
Wikidata QID: Q59065240
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2014/267307
OpenAlex ID: W2161962818
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description: scientific article; zbMATH DE number 7016031