Neural Network Observer-Based Finite-Time Formation Control of Mobile Robots
Joint Authors
Sun, Tairen
Pan, Yongping
Zhang, Caihong
Source
Mathematical Problems in Engineering
Issue
Vol. 2014, Issue 2014 (31 Dec. 2014), pp.1-9, 9 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2014-07-07
Country of Publication
Egypt
No. of Pages
9
Main Subjects
Abstract EN
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.
American Psychological Association (APA)
Zhang, Caihong& Sun, Tairen& Pan, Yongping. 2014. Neural Network Observer-Based Finite-Time Formation Control of Mobile Robots. Mathematical Problems in Engineering،Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-458815
Modern Language Association (MLA)
Zhang, Caihong…[et al.]. Neural Network Observer-Based Finite-Time Formation Control of Mobile Robots. Mathematical Problems in Engineering No. 2014 (2014), pp.1-9.
https://search.emarefa.net/detail/BIM-458815
American Medical Association (AMA)
Zhang, Caihong& Sun, Tairen& Pan, Yongping. Neural Network Observer-Based Finite-Time Formation Control of Mobile Robots. Mathematical Problems in Engineering. 2014. Vol. 2014, no. 2014, pp.1-9.
https://search.emarefa.net/detail/BIM-458815
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-458815