Adaptive immune fuzzy quasi-sliding mode control for leader–follower formation of wheeled mobile robots under uncertainties and disturbances with obstacle avoidance

IF 1.5 4区 工程技术 Q3 COMPUTER SCIENCE, INTERDISCIPLINARY APPLICATIONS
Willy John Nakamura Goto, Douglas Wildgrube Bertol, Nardênio Almeida Martins
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引用次数: 0

Abstract

Purpose

This paper aims to propose a robust kinematic controller based on sliding mode theory designed to solve the trajectory tracking problem and also the formation control using the leader–follower strategy for nonholonomic differential-drive wheeled mobile robots with a PD dynamic controller.

Design/methodology/approach

To deal with classical sliding mode control shortcomings, such as the chattering and the requirement of a priori knowledge of the limits of the effects of disturbances, an immune regulation mechanism-inspired approach is proposed to adjust the control effort magnitude adaptively. A simple fuzzy boundary layer method and an adaptation law for the immune portion gain online adjustment are also considered. An obstacle avoidance reactive strategy is proposed for the leader robot, given the importance of the leader in the formation control structure.

Findings

To verify the adaptability of the controller, obstacles are distributed along the reference trajectory, and the simulation and experimental results show the effectiveness of the proposed controller, which was capable of generating control signals avoiding chattering, compensating for disturbances and avoiding the obstacles.

Originality/value

The proposed design stands out for the ability to adapt in a case involving obstacle avoidance, trajectory tracking and leader–follower formation control by nonholonomic robots under the incidence of uncertainties and disturbances and also considering that the immune-based control provided chattering mitigation by adjusting the magnitude of the control effort, with adaptability improved by a simple integral-type adaptive law derived by Lyapunov stability analysis.

不确定性和干扰条件下轮式移动机器人领队-跟队编队的自适应免疫模糊准滑模控制与避障
目的 本文旨在提出一种基于滑动模态理论的鲁棒运动控制器,旨在解决轨迹跟踪问题,以及使用领跑者-追随者策略对带有 PD 动态控制器的非全局差动驱动轮式移动机器人进行编队控制。为了解决经典滑动模态控制的缺点,如颤振和对干扰影响限制的先验知识的要求,本文提出了一种受免疫调节机制启发的方法,以自适应性地调整控制力度大小。此外,还考虑了一种简单的模糊边界层方法和免疫部分增益在线调整的适应法则。为了验证控制器的适应性,沿着参考轨迹分布了障碍物,仿真和实验结果表明了所提控制器的有效性,它能够产生避免颤振的控制信号,补偿干扰并避开障碍物。独创性/价值所提出的设计在非全局机器人避障、轨迹跟踪和领跑者-追随者编队控制等情况下,在不确定性和干扰的影响下,具有突出的适应能力,同时考虑到基于免疫的控制通过调整控制力度的大小来缓解颤振,通过李亚普诺夫稳定性分析得出的简单积分型自适应定律提高了适应能力。
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来源期刊
Engineering Computations
Engineering Computations 工程技术-工程:综合
CiteScore
3.40
自引率
6.20%
发文量
61
审稿时长
5 months
期刊介绍: The journal presents its readers with broad coverage across all branches of engineering and science of the latest development and application of new solution algorithms, innovative numerical methods and/or solution techniques directed at the utilization of computational methods in engineering analysis, engineering design and practice. For more information visit: http://www.emeraldgrouppublishing.com/ec.htm
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