Please use this identifier to cite or link to this item: https://doi.org/10.1155/2014/267307
Title: Neural network observer-based finite-time formation control of mobile robots
Authors: Zhang, C
Sun, T
Pan, Y 
Keywords: Control theory
Finite-time observers
Follower robots
Formation control
Leader following
Neural network (nn)
Non-holonomic mobile robots
Qualitative analysis
Trajectory tracking
Mobile robots
Issue Date: 2014
Publisher: Hindawi Publishing Corporation
Citation: Zhang, C, Sun, T, Pan, Y (2014). Neural network observer-based finite-time formation control of mobile robots. Mathematical Problems in Engineering 2014 : 267307. ScholarBank@NUS Repository. https://doi.org/10.1155/2014/267307
Rights: Attribution 4.0 International
Abstract: This paper addresses the leader-following formation problem of nonholonomic mobile robots. In the formation, only the pose (i.e., the position and direction angle) of the leader robot can be obtained by the follower. First, the leader-following formation is transformed into special trajectory tracking. And then, a neural network (NN) finite-time observer of the follower robot is designed to estimate the dynamics of the leader robot. Finally, finite-time formation control laws are developed for the follower robot to track the leader robot in the desired separation and bearing in finite time. The effectiveness of the proposed NN finite-time observer and the formation control laws are illustrated by both qualitative analysis and simulation results. © 2014 Caihong Zhang et al.
Source Title: Mathematical Problems in Engineering
URI: https://scholarbank.nus.edu.sg/handle/10635/180174
ISSN: 1024-123X
DOI: 10.1155/2014/267307
Rights: Attribution 4.0 International
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