Intelligent Formation Control of Uncertain Networked Heterogeneous Omnidirectional Wheel Multi-robots

• Main Authors: Ting-Yi Lin, 林鼎翊
• Other Authors: 蔡清池
• Format: Others
• Language: en_US
• Published: 2017
• Online Access: http://ndltd.ncl.edu.tw/handle/63697300496621118363

碩士 === 國立中興大學 === 電機工程學系所 === 105 === This thesis proposes methodologies and techniques for distributed consensus formation control of uncertain networked heterogeneous multiple three-wheeled or four-wheeled Mecanum omnidirectional robots (MWORs). After brief descriptions of formation control system, kinematic and dynamic models of MWORs and Wi-Fi communication topology, two distributed leader-follower consensus formation control methods are proposed to achieve formation keeping and consensus tracking. One is that an intelligent consensus cooperative formation control law is derived by combining recurrent interval type-2 fuzzy neural networks (RIT2FNNs), adaptive backstepping, sliding-mode control and consensus tracking. The other is that an intelligent exponential consensus distributed formation control law with collision and obstacle avoidance is established by integrating online learning of output recurrent interval type-2 fuzzy neural networks (ORIT2FNNs), consensus tracking, and Lyapunov analytical techniques. The effectiveness and merits of the two proposed control laws are examined and verified through several computer simulations and experimental results on the built formation control system. The aforementioned methods and system techniques may provide solid and useful references for researchers and engineers working for multi-robot or multi-agent systems.