Intelligent Adaptive Distributed Consensus Formation Control for Uncertain Networked Heterogeneous Swedish-Wheeled Omnidirectional Multi-Robots

• Main Authors: Xing-Fu Wang, 王興夫
• Other Authors: 蔡清池
• Format: Others
• Language: zh-TW
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/34520287323981987604

碩士 === 國立中興大學 === 電機工程學系所 === 105 === This thesis presents methodologies and techniques for distributed consensus-based formation control of a group of networked heterogeneous multiple Swedish wheeled omnidirectional robots(SWORs) system including Swedish three-wheeled omnidirectional robots(STWORs) and Swedish four-wheeled omnidirectional robots (SFWORs) with uncertainties. After describing the kinematic and dynamic models of STWORs and SFWORs, the heterogeneous formation control system with the communication principle is designed and implemented. To achieve formation keeping and consensus tracking, this thesis proposes two distributed consensus formation control methods. One is an intelligent adaptive backstepping technique, and the other is an adaptive terminal sliding mode (TSMC) technique. In addition, both controllers use online learning of output recurrent fuzzy wavelet neural networks (ORFWNNs) which are employed to learn the system uncertainties. Moreover, a collision and obstacle avoidance strategy is proposed to avoid obstacle and collision among robots. Through numerical simulations and the experiment results of platform including SFWORs and STWORs on the built heterogeneous formation control system, the proposed methods have been shown effective in achieving the formation control goals.