ADAPTIVE DISTRIBUTED DYNAMIC SURFACE CONTROL FOR COOPERATIVE PATH FOLLOWING OF MULTI-ROBOT SYSTEMS WITH UNKNOWN UNCERTAINTIES UNDER DIRECTED GRAPHS

摘要

This paper is concerned, with the distributed cooperative path following control of multi-robot systems with unknown uncertainties under general directed graphs. The control design is categorized into two envelopes. Firstly, adaptive dynamic surface control allows for handling the unknown dynamical uncertainties and at the same time simplifies the cooperative path following controllers by introducing the first-order filters. Secondly, vehicles coordination is achieved by exchanging the path variables. The amount of communications is reduced effectively due to the distributed speed estimator, which means the condition that the global knowledge of the reference speed is relaxed. Moreover, the distributed protocol is developed to synchronize the path variable under general interconnected directed graphs. Under the proposed controllers, it can be shown that all signals in the closed-loop system are uniformly ultimately bounded. Finally simulations results are provided to demonstrate the effectiveness of the approach presented.