Regular Papers

International Journal of Control, Automation and Systems 2015; 13(3): 587-594

Published online February 2, 2015

https://doi.org/10.1007/s12555-014-0249-3

© The International Journal of Control, Automation, and Systems

Adaptive Leader-follower Formation Control of Mobile Robots with Unknown Skidding and Slipping Effects

Bong Seok Park and Sung Jin Yoo*

Chung-ang University

Abstract

This paper investigates an adaptive leader-follower formation control problem of multiple mobile robots in the presence of unknown skidding and slipping. First, we employ the concept of virtual robots to achieve the desired formation and derive the kinematics of the virtual leader and follower robots considering skidding and slipping effects. Then, we design an adaptive formation controller based on a two-dimensional error surface where the adaptive technique is used for compensating the unknown skidding and slipping effects that influence the follower robots. From Lyapunov stability theorem, we show that all errors of the closed-loop system are uniformly ultimately bounded, and thus the desired formation is successfully achieved regardless of the presence of unknown skidding and slipping effects. Simulation results are provided to demonstrate the effectiveness of the proposed formation control scheme.

Keywords Adaptive control, formation control, leader-follower approach, mobile robots, skidding and slipping effects.

Article

Regular Papers

International Journal of Control, Automation and Systems 2015; 13(3): 587-594

Published online June 1, 2015 https://doi.org/10.1007/s12555-014-0249-3

Copyright © The International Journal of Control, Automation, and Systems.

Adaptive Leader-follower Formation Control of Mobile Robots with Unknown Skidding and Slipping Effects

Bong Seok Park and Sung Jin Yoo*

Chung-ang University

Abstract

This paper investigates an adaptive leader-follower formation control problem of multiple mobile robots in the presence of unknown skidding and slipping. First, we employ the concept of virtual robots to achieve the desired formation and derive the kinematics of the virtual leader and follower robots considering skidding and slipping effects. Then, we design an adaptive formation controller based on a two-dimensional error surface where the adaptive technique is used for compensating the unknown skidding and slipping effects that influence the follower robots. From Lyapunov stability theorem, we show that all errors of the closed-loop system are uniformly ultimately bounded, and thus the desired formation is successfully achieved regardless of the presence of unknown skidding and slipping effects. Simulation results are provided to demonstrate the effectiveness of the proposed formation control scheme.

Keywords: Adaptive control, formation control, leader-follower approach, mobile robots, skidding and slipping effects.

IJCAS
May 2024

Vol. 22, No. 5, pp. 1461~1759

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