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Distributed Prescribed Performance Formation Control for Nonholonomic Mobile Robots Under Noisy Communication

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Abstract

This paper addresses the formation control problem for a group of nonholonomic mobile robots (NMRs) under noisy communication. The communication signals with noisy information are transmitted among different robots by a directed graph. Only the individual mobile robot can obtain its true and feasible states without communication. To achieve the desired formation of multiple robots, the sensor-to-control signals with the noisy channel are modeled by a nonlinear function, which includes unknown and estimated parameters. Based on the adaptive control technique and robust control technique, the unknown parameters of noisy signal models are estimated and compensated, respectively. Meanwhile, the prescribed performances are enforced to standardize the transient performance of nonholonomic mobile robots. Then, a novel distributed prescribed performance formation control scheme is designed to guarantee formation errors evolving always with the predefined regions under noisy communication, achieving the desired formation. Based on the Lyapunov stability theory, the formation errors are proved to converge to a compact set, and closed states are bounded. Simulations are conducted to verify the correctness and effectiveness of the true signals estimation algorithm and distributed prescribed performance formation control laws.

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Code Availability

The datasets generated during the current study are not publicly available, but are available from the corresponding author on reasonable request.

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Funding

This work was supported in part by the National Natural Science Foundation of China under Grant 62293510, 62293515, Special Funding Support for the Construction of Innovative Provinces in Hunan Province under Grant 2021GK1010, Major project of Xiangjiang Laboratory under Grant 22xj01006.

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Authors and Affiliations

  1. College of Electrical and Information Engineering, Hunan University, 410082, Changsha, Hunan Province, China

    Nankai Chen, Yaonan Wang & Ronghua Zhang

  2. National Engineering Research Center of Robot Visual Perception and Control Technology, 410082, Changsha, Hunan Province, China

    Yaonan Wang

Authors
  1. Nankai Chen
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  2. Yaonan Wang
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  3. Ronghua Zhang
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Contributions

Chen participated in the conception and design of the method, and the simulations were conducted by Chen and Zhang. Professor Wang was responsible for the argumentation of the article theory.

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Correspondence to Yaonan Wang.

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Chen, N., Wang, Y. & Zhang, R. Distributed Prescribed Performance Formation Control for Nonholonomic Mobile Robots Under Noisy Communication. J Intell Robot Syst 108, 36 (2023). https://doi.org/10.1007/s10846-023-01828-z

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