Finite-Time Observer-Based Formation Tracking With Application to Omnidirectional Robots

• Published in: IEEE transactions on industrial electronics (1982) Vol. 70; no. 10; pp. 10598 - 10606
• Main Authors: Fei, Yang, Shi, Peng, Lim, Chee Peng, Yuan, Xin
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.10.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuator saturation; Actuators; Adaptive control; Compensators; Control systems design; finite-time observer; formation control; Hardware-in-the-loop simulation; Mathematical models; multiagent systems; Neural networks; Observers; omnidirectional robots (ODRs); Robot control; Robust control; Service robots; Stability; Stability criteria; Tracking errors; Uncertainty; Wheels
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2022.3224186

The challenging problem of robust formation control pertaining to omnidirectional robots with model uncertainty and actuator saturation is comprehensively investigated in this article. First, an observer-based formation controller is designed to ensure the semiglobal uniform ultimate boundedness of the system's formation tracking error. Then, both global stability and practical finite-time stability are achieved to ascertain the practicality of the observer design. Apart from restricting the control input amplitude, we also investigate the reverse effect caused by saturated and coupled control input. As such, an adaptive compensator is formulated to attenuate the state oscillation caused by the reverse effect. Both numerical simulations and hardware-in-the-loop experiments are carried out to illustrate and evaluate the effectiveness and potentials of the proposed new techniques for real-world applications.