Adaptive Distributed Fault-tolerant Formation Control for Multi-robot Systems under Partial Loss of Actuator Effectiveness |
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| Authors: | Yeong-Hwa Chang Chun-I Wu Hung-Wei Lin |
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| Affiliation: | 1.Department of Electrical Engineering,Chang Gung University,Taoyuan City,Taiwan;2.Department of Electrical Engineering,Ming Chi University of Technology,New Taipei City,Taiwan;3.Department of Electrical Engineering,Lee-Ming Institute of Technology,New Taipei City,Taiwan |
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| Abstract: | 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. |
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