Abstract
The adaptive synchronized formation control problem of multiple mobile robots is studied in this paper. The communication constraints, including time-varying delays and data sampling, are considered in problem formulation and system design. Furthermore, the parameter uncertainties in system dynamics have also been taken into account and an adaptive formation controller is presented which enables the robot network to achieve the synchronized formation task adaptively. Convergence analyses of the proposed method are presented and several useful properties are provided. Simulation results validate the effectiveness of the proposed adaptive synchronized formation control approach.
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Acknowledgements
This work is partially supported by the China Domestic Research Project for the International Thermonuclear Experimental Reactor (ITER) under Grant 2012GB102001, the Natural Science Foundation of China under Grants 61175088, 61221003 and 61573243.
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Liu, Z., Chen, W., Lu, J., Wang, J., Wang, H. (2017). Adaptive Synchronized Formation Control Considering Communication Constraints. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_42
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DOI: https://doi.org/10.1007/978-3-319-48036-7_42
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