Cooperative Target Enclosing Control of Multiple Mobile Robots Subject to Input Disturbances

This paper investigates the cooperative target enclosing of multiple unicycle-type mobile robots subject to input disturbances. The objective is to make all robots orbit around a given stationary target, and maintain evenly spaced along a common circle. The network of the multirobot systems is set i...

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Published inIEEE transactions on systems, man, and cybernetics. Systems Vol. 51; no. 6; pp. 3440 - 3449
Main Authors Yu, Xiao, Ma, Ji, Ding, Ning, Zhang, Aidong
Format Journal Article
LanguageEnglish
Published New York IEEE 01.06.2021
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Control systems
Control theory
Cooperative control
Disturbances
Dynamic control
formation control
Mobile robots
Multi-robot systems
multiagent systems
Multiple robots
Orbits
Robot control
Robot kinematics
Robot sensing systems
Robots
target enclosing
unicycles
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Summary:This paper investigates the cooperative target enclosing of multiple unicycle-type mobile robots subject to input disturbances. The objective is to make all robots orbit around a given stationary target, and maintain evenly spaced along a common circle. The network of the multirobot systems is set in a cyclic pursuit manner. A dynamic control law is developed for the cooperative target enclosing of the multirobot systems, while tackling the heterogeneous input disturbances generated by linear exogenous systems. The proposed control law requires each robot to use the relative displacement measurements with respect to the target and its neighbors. It is shown that global asymptotic stability of the closed-loop multirobot systems can be guaranteed in the presence of a large class of input disturbance signals. Finally, simulation results illustrate the effectiveness of our approach.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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content type line 14
ISSN:2168-2216
2168-2232
DOI:10.1109/TSMC.2019.2926534