Command Filter Adaptive Fuzzy Formation Asymptotic Tracking Control for Nonholonomic Multirobot Systems With Multiple Constraints
针对具有多个约束的非完整多机器人系统，提出一种自适应命令滤波编队渐近跟踪控制方案，结合模糊逻辑系统逼近未知动态，利用障碍函数和预设性能控制保证瞬态与稳态性能、避碰和连通性，并通过命令滤波与指数衰减函数补偿滤波误差，使跟踪误差渐近收敛到零。
In this article, the problem of adaptive command filter formation asymptotic tracking control (FATC) is investigated for nonholonomic multirobot systems (NMRSs) with multiple constraints. Consider the robot’s uncertain dynamics parts that the unknown system parameters and nonlinear functions, which are approximated by using adaptive technique and fuzzy logic systems (FLSs). The transient and steady-state performance, collision avoidance, and connectivity maintenance can be guaranteed by employing the universal barrier function and prescribed performance control (PPC) approach. In addition, in order to compensate the influence of filtering errors and make followers more accurately and swiftly track leader’s trail, a novel adaptive FATC scheme is further developed by subtly combining the command filter technique and exponential decay function. This scheme can guarantee all signals of controlled systems are bounded and the formation tracking errors asymptotically converge to origin. Finally, the feasibility of FATC scheme is demonstrated for NMRSs.