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ISA Trans. 2014 Mar;53(2):474-80. doi: 10.1016/j.isatra.2013.12.010. Epub 2014 Jan 2.

Adaptive PID formation control of nonholonomic robots without leader's velocity information.

Author information

1
College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China. Electronic address: shendongbin@sina.com.
2
College of Automation Science and Engineering, South China University of Technology, Guangzhou 510640, China. Electronic address: auwjsun@scut.edu.cn.
3
Key Laboratory of Systems & Control, Academy of Mathematics and Systems Science, Chinese Academy of Sciences, Beijing 100190, China. Electronic address: zhendong.sun@amss.ac.cn.

Abstract

This paper proposes an adaptive proportional integral derivative (PID) algorithm to solve a formation control problem in the leader-follower framework where the leader robot's velocities are unknown for the follower robots. The main idea is first to design some proper ideal control law for the formation system to obtain a required performance, and then to propose the adaptive PID methodology to approach the ideal controller. As a result, the formation is achieved with much more enhanced robust formation performance. The stability of the closed-loop system is theoretically proved by Lyapunov method. Both numerical simulations and physical vehicle experiments are presented to verify the effectiveness of the proposed adaptive PID algorithm.

KEYWORDS:

Adaptive control; Formation; Leader–follower; Lyapunov method; Nonholonomic mobile robots

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