Adaptive Distributed Fault-tolerant Formation Control for Multi-robot Systems under Partial Loss of Actuator Effectiveness

• Published in: International journal of control, automation, and systems Vol. 16; no. 5; pp. 2114 - 2124
• Main Authors: Chang, Yeong-Hwa, Wu, Chun-I, Lin, Hung-Wei
• Format: Journal Article
• Language: English
• Published: Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.10.2018; Springer Nature B.V; 제어·로봇·시스템학회
• Subjects: Actuators; Adaptive control; Communication; Control; Design; Electrical engineering; Engineering; Fault tolerance; Kinematics; Mathematical models; Mechatronics; Multiple robots; Regular Papers; Robot control; Robotics; Robots; Stability analysis; System effectiveness; 제어계측공학; multi-robot systems; dynamic surface control; fault-tolerant control; Adaptive control; formation control
• ISSN: 1598-6446; 2005-4092
• DOI: 10.1007/s12555-016-0587-4

This paper presents an adaptive distributed fault-tolerant formation control for multi-robot systems. Both the kinematics and dynamics of differential wheeled mobile robots are considered. In particular, the problem caused by actuator faults is investigated. Based on dynamic surface control techniques, adaptive formation controllers can be obtained under a directed communication network. The closed-loop stability is guaranteed by using Lyapunov stability analysis such that all followers can exponentially converge to a leader-follower formation pattern. Simulation and experimental results illustrate that the desired formation pattern can be preserved for a group of wheeled robots subject to unknown uncertainties and actuator faults.