Adaptive Neuro-Fuzzy Formation Control for Leader-Follower Mobile Robots

作者：Lin Hung Wei; Chan Wei Shou; Chang Chia Wen; Yang Cheng Yuan; Chang Yeong Hwa^*

来源：International Journal of Fuzzy Systems, 2013, 15(3): 359-370.

• Multi-robot systems
• formation control
• neural fuzzy control
• Lyapunov stability

This paper aims to investigate the formation control of multi-robot systems, where the kinematic model of a differentially driven wheeled mobile robot is considered. Based on the graph-theoretic concepts and locally distributed information, an adaptive neural fuzzy formation controller is designed with the capability of on-line learning. The learning rules of controller parameters can be derived from the analyzing of Lyapunov stability. In addition to simulations, the proposed techniques are applied to an experimental multi-robot platform for performance validations. From simulation and experimental results, the proposed adaptive neural fuzzy protocol can provide better formation responses compared to conventional consensus algorithms.

• 出版日期2013-9
• 单位长春大学