Neuro-Adaptive Cooperative Tracking Rendezvous of Nonholonomic Mobile Robots

Peifen Lu; Simone Baldi; Guanrong Chen; Wenwu Yu

doi:10.1109/TCSII.2020.2969373

Neuro-Adaptive Cooperative Tracking Rendezvous of Nonholonomic Mobile Robots

Peifen Lu, Simone Baldi^*, Guanrong Chen, Wenwu Yu

^*Corresponding author for this work

Team Bart De Schutter

Research output: Contribution to journal › Article › Scientific › peer-review

8 Citations (Scopus)

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Abstract

This brief proposes a neuro-adaptive method for the unsolved problem of cooperative tracking rendezvous of nonholonomic mobile robots (NMRs) subject to uncertain and unmodelled dynamics. A hierarchical cooperative control framework is proposed, which consists of a novel distributed estimator along with local neuro-adaptive tracking controllers. Rigorous stability analysis as well as simulation experiments illustrate the proposed method.

Original language	English
Pages (from-to)	3167-3171
Journal	IEEE Transactions on Circuits and Systems II: Express Briefs
Volume	67
Issue number	12
DOIs	https://doi.org/10.1109/TCSII.2020.2969373
Publication status	Published - 2020

Bibliographical note

Accepted Author Manuscript

Keywords

cooperative rendezvous
distributed estimator
neuro-adaptive control
Nonholonomic mobile robot

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10.1109/TCSII.2020.2969373

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Neuro-Adaptive Cooperative Tracking Rendezvous of Nonholonomic Mobile Robots

Abstract

Bibliographical note

Keywords

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