关键词: 多非完整移动机器人, 自适应控制, 驱动器动力学, 反步技术, 编队控制, 领航者-跟随者, 不确定性

Abstract: For the formation control problem of multiple nonholonomic mobile robots including actuator and formation dynamics, this paper presents a new control law that integrates kinematic controller with input voltages controller of actuator. This control law is designed by backstepping technique based on [l-ψ]formation control structure of leader-follower. The RBFNN is developed to achieve on-line estimation for the part of dynamics nonlinear uncertain for follower and leader of robots. The adaptive robust controller is adopted to compensate modeling errors of neural network. This method not only solves the problem of parameters and non-parameter uncertainties of mobile robots, but also ensures the desired trajectory tracking of robot formation in the case of maintaining formation. The stability and convergence of the control system are proved by using the Lyapunov theory. The simulation results show the effectiveness of this proposed method.

Key words: multi-nonholonomic mobile robots, adaptive control, actuator dynamics, backstepping, formation control, leader-follower, uncertainty