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Connectivity-preserving-based distributed adaptive asymptotically synchronised tracking of networked uncertain nonholonomic mobile robots with actuator failures and unknown control directions

Author

Listed:
  • Yujing Xu
  • Chaoli Wang
  • Weigang Yan
  • Mingfeng Lin
  • Jianguo Tao

Abstract

This brief addresses a distributed adaptive asymptotically synchronous tracking problem based on guaranteed connectivity for networked uncertain nonholonomic mobile robots (NMRs) with actuator failures and unknown control directions. First, a radial basis function (RBF) neural network is used to approximate the unknown nonlinear functions, and a distributed nonlinear error surface is introduced to achieve synchronous tracking between NMRs and maintain the initial connectivity patterns. Then, a conditional inequality that allows multiple piecewise Nussbaum functions to achieve robust control is proposed to solve the problem of unknown actuator failures and unknown control directions. Moreover, the proposed protocol ensures that all signals in the closed-loop system are globally bounded and the tracking errors converge asymptotically to zero. Finally, a simulation example verifies the effectiveness of the proposed adaptive laws.

Suggested Citation

  • Yujing Xu & Chaoli Wang & Weigang Yan & Mingfeng Lin & Jianguo Tao, 2021. "Connectivity-preserving-based distributed adaptive asymptotically synchronised tracking of networked uncertain nonholonomic mobile robots with actuator failures and unknown control directions," International Journal of Systems Science, Taylor & Francis Journals, vol. 52(11), pages 2358-2374, August.
    • Handle: RePEc:taf:tsysxx:v:52:y:2021:i:11:p:2358-2374
    DOI: 10.1080/00207721.2021.1888165
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